How to include category in PAGE URL (not post URL)

I would like to include categories in my page URL structure. I’ve searched, and found no answers on how to do this. I’ve already checked the Permalink settings, but that only seems to apply to posts, not pages. I installed the plugin Category Tag Pages, but even after applying a category to my page, it doesn’t seem to modify the URL structure.

What I have:

What I need:

Thanks for any advice!

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