Option to add "Category" to title in Yoast

I use Yoast SEO plugin. In Yoast settings for “Listings” you can’t add “Category” into the Title. So I would like to include the category of the listing into the title tag. I even tried to add it manually, but it didn’t work.

Please check if Yoast has some options for including a custom taxonomy, listing categories as implemented via the “hp_listing_category” taxonomy (post category is also a taxonomy, named “category”) - maybe they have some placeholders for this purpose (in the same way as they do for meta fields).