WordPress Create Custom Permalinks for Classified FreeAds

Hello,

Website - DinghyMart.co.uk
WordPress
Primary Plugin: AWPCP (https://awpcp.com) - this has already been subject to some work by third party developer.

This is an example of a current ADVERT in a specific class of sailing boat (ENTERPRISE) : https://dinghymart.co.uk/classifieds/6991/enterprise-sailing-dinghy-optional-e-outboard/

I want the structure to be cleaner and have a relationship with the BREADCRUMBS (parent categories)

REFER to IMAGE 1 and 2 for BREADCRUMB URL's

Top Level Category (AWPCP) : https://dinghymart.co.uk/class/564/sailing-racing-dinghies/
I would prefer this to be simplified to : https://dinghymart.co.uk/sailing-racing-dinghies/

then to the Sub Category : https://dinghymart.co.uk/class/745/enterprise/
I would like this to be simplified and ASSOCIATED to the Top Level Category eg. https://dinghymart.co.uk/sailing-racing-dinghies/enterprise/

So for the actual LISTING ADVERT page we currently have :
https://dinghymart.co.uk/classifieds/6991/enterprise-sailing-dinghy-optional-e-outboard/

I would like this to be: https://dinghymart.co.uk/sailing-racing-dinghies/enterprise/6991/

All CANONICAL url's must reference the same format as defined above.

I already have a CHILD THEME and I can setup a STAGING AREA for test and development before deployment.

This site is built on AWPCP plugin. I have already had a developer make some changes to the categories and I can provide details of these files to the new developer.

Any questions - please ask before accepting / proposing

Cheers

Tristan

another example:

CURRENT ADVERT is : https://dinghymart.co.uk/classifieds/6831/cornish-coble/

I want this to be : https://dinghymart.co.uk/dayboats-keelboats/cornish-coble/6831

Top Level Category would need to change from:
https://dinghymart.co.uk/class/910/dayboats-keelboats/
to
https://dinghymart.co.uk/dayboats-keelboats/

and Sub Category from :
https://dinghymart.co.uk/class/896/cornish-coble/
to
https://dinghymart.co.uk/cornish-coble/

Any questions - please ask