Primary Category / Maintaining the Same Category Initially Chosen

I’ve been searching all over to an answer to this question but I’m unable to find a straight forward one.

I have products which belong to multiple categories. A user will click on (for example) Coasters in the left hand menu, which will then show them coasters. When they click on an individual coaster, it then changes the breadcrumbs and the category highlighted in the menu to another category that the product belongs to – in this example Highland Collection.

This makes the whole process so messy and puts the user off going back to look at different products of the category they initially selected.

Is there a way to maintain the same category the user selected initially? I’ve looked into Yoast Primary Categories, but this involves coding and seems to only affect the breadcrumbs. Also, a bit unclear as to whether this is available for the free version or not.

Thanks for any helps.