Taxonomy term in permalink

Take a look at this post

How to create a permalink structure with custom taxonomies and custom post types like base-name/parent-tax/child-tax/custom-post-type-name

Accompanied by:

How to change permalink structure for custom post type and it’s taxonomies?

and

Custom post types, taxonomies, and permalinks

It will cover what you are trying to do for /category/subcategory/othersubcategory/posttitle.

Edit: I implemented this and fixed some issues with a double trailing slash.
Look at this, it works How to fix a double slash in custom permalinks with hierarchical taxonomy’s?

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