Permalink When In Multiple Categories

I want to list a post in multiple categories, but I want to be able to choose which category shows up in my permalink structure. Right now no matter what order I pick the categories the lowest id number is always the one that is used. Any one know how to make it so it is whatever I pick?

I tried creating the post and only picking the category I want first. Then going back and updating it with the others, but it changes the link again.

I’d rather not use a plugin, but if that’s what it takes.

Hopefully the answer to this isn’t blatantly obvious because I searched for this a lot.