This modified version of the cd command will recursively cd into directories that contain a single subdirectory. You may append this code to your shell config file (such as .zshrc, .bashrc, etc...).

rcd.sh

function rcd {
    # Check that number of arguments is 1
    if [ $# -ne 1 ]; then
        echo "Please input the path to a directory as the argument."
        return 0
    fi

    # Store the given path as a variable
    dirpath=$1

    # Check that the path is a directory
    if ! [[ -d $dirpath ]]; then
        echo "Please input the path to a directory as the argument."
        return 0
    fi

    # While $dirpath contains a single item...
    while [ $(ls $dirpath | wc -l) -eq 1 ]; do
        # If the item in the directory is also a directory
        if [[ -d $dirpath/$(ls $dirpath) ]]; then
            # Add it to the path to cd into 
            dirpath=$dirpath/$(ls $dirpath)
        else
            break
        fi
    done

    # cd into the directories
    cd $dirpath
}