How to add dynamic category in Custom Post Types Slug?

Hi Everybody,
I was creating Custom Post Types without a plugin and it is working good.

It’s showing URL like this
sitename[.]com/cars/post-url/

My Problem is:
What I wanted to show like this
sitename[.]com/category-name/post-url/

something like this
sitename[.]com/honda/honda-price-in-2022/

CPT Code

add_action( 'init', 'your_car_register_post_type' );
function your_car_register_post_type() {
	$args = [
		'label'  => esc_html__( 'Cars', 'text-domain' ),
		'labels' => [
			'menu_name'          => esc_html__( 'Cars', 'your-car' ),
			'name_admin_bar'     => esc_html__( 'Car', 'your-car' ),
			'add_new'            => esc_html__( 'Add Car', 'your-car' ),
			'add_new_item'       => esc_html__( 'Add new Car', 'your-car' ),
			'new_item'           => esc_html__( 'New Car', 'your-car' ),
			'edit_item'          => esc_html__( 'Edit Car', 'your-car' ),
			'view_item'          => esc_html__( 'View Car', 'your-car' ),
			'update_item'        => esc_html__( 'View Car', 'your-car' ),
			'all_items'          => esc_html__( 'All Cars', 'your-car' ),
			'search_items'       => esc_html__( 'Search Cars', 'your-car' ),
			'parent_item_colon'  => esc_html__( 'Parent Car', 'your-car' ),
			'not_found'          => esc_html__( 'No Cars found', 'your-car' ),
			'not_found_in_trash' => esc_html__( 'No Cars found in Trash', 'your-car' ),
			'name'               => esc_html__( 'Cars', 'your-car' ),
			'singular_name'      => esc_html__( 'Car', 'your-car' ),
		],
		'public'              => true,
		'exclude_from_search' => false,
		'publicly_queryable'  => true,
		'show_ui'             => true,
		'show_in_nav_menus'   => true,
		'show_in_admin_bar'   => true,
		'show_in_rest'        => true,
		'capability_type'     => 'post',
		'hierarchical'        => true,
		'has_archive'         => true,
		'query_var'           => true,
		'can_export'          => true,
		'rewrite_no_front'    => false,
		'show_in_menu'        => true,
		'menu_position'       => 5,
		'menu_icon'           => 'dashicons-car',
		'supports' => [
			'title',
			'editor',
			'author',
			'thumbnail',
			'custom-fields',
			'comments',
		],
		'taxonomies' => [
			'category',
		],
		'rewrite' => true,
	];

	register_post_type( 'car', $args );
}

I was able to remove cars (CPT) from the URL using following code.

function abc_remove_cpt_slug($args, $post_type) {
if(in_array($post_type, array('car'))) {
    $args['rewrite'] = array('slug' => '/');
}

return $args;
}
add_filter('register_post_type_args', 'abc_remove_cpt_slug', 10, 2);