Remove taxonomy from url

Hello

I’ve set a post type and added a Custom Taxonomy that related to the post type.

In the url I want to remove the “branche-category” that is the Custom Taxonomy name and stay with this url:

https://www.gorme.co.il/%D7%9B%D7%9C-%D7%94%D7%A1%D7%A0%D7%99%D7%A4%D7%99%D7%9D/%D7%A1%D7%A0%D7%99%D7%A4%D7%99-%D7%94%D7%91%D7%99%D7%AA/

Is it possible?

Thank you,

Eran

The page I need help with: [log in to see the link]