Custom post types and custom category name.

Hello,

I have created a created a Custom Post Type called ‘help’ with categories enabled.

The archive page directs to
https://www.example.com/help

All posts in help link like this:
https://www.example.com/help/post-title/

Is there a way for the the URL to reflect the post category too eg:
https://www.example.com/help/category-title/post-title/

I would also like to set an archive page at the following location:
https://www.example.com/help/category-title/

Here is the code from my functions:

// Register Custom Post Type for Knowledge Base
function eo_help_post() {

	$labels = array(
		'name'                => 'Help',
		'singular_name'       => 'Knowledge base post',
		'menu_name'           => 'Knowledge Base',
		'name_admin_bar'      => 'Knowledge Base',
		'parent_item_colon'   => 'Parent Post:',
		'all_items'           => 'All Posts',
		'add_new_item'        => 'Add New Post',
		'add_new'             => 'Add New',
		'new_item'            => 'New Post',
		'edit_item'           => 'Edit Post',
		'update_item'         => 'Update Post',
		'view_item'           => 'View Post',
		'search_items'        => 'Search Pst',
		'not_found'           => 'Not found',
		'not_found_in_trash'  => 'Not found in Trash',
	);
	$rewrite = array(
		'slug'                => 'help',
		'with_front'          => true,
		'pages'               => true,
		'feeds'               => false,
	);
	$args = array(
		'label'               => 'Knowledge base post',
		'description'         => 'Knowledge base posts',
		'labels'              => $labels,
		'supports'            => array( 'title', 'editor', 'excerpt', ),
		'taxonomies'          => array( 'category' ),
		'hierarchical'        => false,
		'public'              => true,
		'show_ui'             => true,
		'show_in_menu'        => true,
		'menu_position'       => 5,
		'menu_icon'           => 'dashicons-info',
		'show_in_admin_bar'   => false,
		'show_in_nav_menus'   => false,
		'can_export'          => true,
		'has_archive'         => true,
		'exclude_from_search' => false,
		'publicly_queryable'  => true,
		'rewrite'             => $rewrite,
		'capability_type'     => 'page',
	);
	register_post_type( 'eo_help_post', $args );

}
add_action( 'init', 'eo_help_post', 0 );