Luc André

By default, WordPress adds a base prefix to taxonomy URLs — <code>/category/</code>, <code>/tag/</code>, or any custom taxonomy base. This plugin removes those prefixes and replaces them with breadcrumb-style paths built directly from the term hierarchy, giving clean, readable URLs that reflect the content structure:
<pre><code>/parent-term/child-term/post-slug/
</code></pre>
For custom post types associated with a taxonomy, the full term path is used as the permalink base. For non-hierarchical taxonomies, only the term slug is used.
It supports:
<ul>
<li>Hierarchical and non-hierarchical taxonomies</li>
<li>Custom post type permalinks built from associated taxonomy term paths</li>
<li>Automatic detection of public taxonomies (including <code>category</code> and <code>post_tag</code>) and CPTs</li>
<li>Configuration via filter for fine-grained control</li>
</ul>
The plugin works at the permalink and rewrite layer and does not modify stored slugs or post content.

Libre Breadcrumb Permalinks

Removes taxonomy base prefixes and builds breadcrumb-style permalinks from term hierarchies.

Jon Christopher

Breadcrumbs are often generated from Page structure, but in a world of Custom Post Types that doesn’t always work. Menu Breadcrumb uses your WordPress Menu to generate a breadcrumb trail based on the current page.
<a href="https://github.com/jchristopher/menu-breadcrumb" rel="nofollow ugc">View on GitHub!</a>

Menu Breadcrumb

Generate a breadcrumb trail from a WordPress Menu

Libre Breadcrumb Permalinks vs Menu Breadcrumb