I found an answer within 10 minutes of posting this. 🙂 Just add 'hierarchical' => true
in the rewrite=>array()
of the taxonomy as follows:
$args = array(
...
'hierarchical' => true,
'rewrite' => array(
'slug' => 'THE-CHOSEN-SLUG',
'hierarchical' => true,
),
);
register_taxonomy( 'my-custom-taxonomy', array( 'page', 'my-custom-post-type' ), $args );
Then flush the rewrite rules by going to the Permalink settings and saving them, and voila!