Use taxonomies
parameter when registering custom post type:
register_post_type( 'car',
[
'labels' => [ /* ... */ ],
'public' => true,
'taxonomies' => [ 'post_tag', 'categorycar' ],
]
);
Or, after registering post types, use register_taxonomy_for_object_type()
function.
register_post_type( 'animal', /* ... */ );
register_post_type( 'science', /* ... */ );
register_taxonomy_for_object_type( 'post_tag', 'animal' );
register_taxonomy_for_object_type( 'post_tag', 'science' );