Register custom post type with custom taxonomy for wordpress. Post type link include taxonomy term.

wp_register_cpt_with_tax.php

<?php
/*
 * 
 * Register post type "service"
 * 
 */
add_action('init', 'register_service', 0);
function register_service() {
	register_post_type('service', [
		'label'  => null,
		'labels' => [
			'name'                  => __('Services', 'domain'),
			'singular_name'         => __('Service', 'domain'),
			'add_new'               => __('Add Service', 'domain'),
			'add_new_item'          => __('Add Service', 'domain'),
			'edit_item'             => __('Edit Service', 'domain'),
			'new_item'              => __('New Service', 'domain'),
			'view_item'             => __('View Service', 'domain'),
			'search_items'          => __('Find Services', 'domain'),
			'not_found'             => __('Services not found', 'domain'),
			'not_found_in_trash'    => __('Services not found in trash', 'domain'),
			'parent_item_colon'     => __('Parent Service', 'domain'),
			'menu_name'             => __('Services', 'domain'),
			'all_items'             => __('All Services', 'domain'),
			'name_admin_bar'        => __('Service', 'domain'),
			'featured_image'        => __('Service Thumbnail', 'domain'),
			'insert_into_item'      => __('Insert into Service', 'domain'),
			'attributes'            => __('Service attributes', 'domain'),
			'uploaded_to_this_item' => __('Uploaded to this Service', 'domain'),
		],
		'menu_position'         => 20,
		'menu_icon'             => 'dashicons-portfolio',
		'description'           => '',
		'public'                => true,
		'publicly_queryable'    => true,
		'show_ui'               => true,
		'show_in_rest'          => false,
		'rest_base'             => '',
		'show_in_menu'          => true,
		'exclude_from_search'   => false,
		'capability_type'       => 'post',
		'map_meta_cap'          => true,
		'hierarchical'          => false,
		'rewrite'               => [
			'slug'          => 'services/%services-cat%',
			'with_front'    => false,
			'pages'         => true,
			'feeds'         => false,
			'feed'          => false
		],
		'has_archive'           => 'services',
		'query_var'             => true,
		'supports'              => ['title', 'editor', 'thumbnail', 'excerpt', 'comments', 'revisions'],
		'taxonomies'            => ['service-cat'],
	]);
}

/*
 * 
 * Register post type "service" messages
 * 
 */
add_filter('post_updated_messages', 'custom_post_updated_messages');
function custom_post_updated_messages($messages) {
	global $post;
	$messages['service'] = [
		0 => '',
		1 => sprintf(__('Service updated. <a href="%s">View Service</a>', 'domain'), esc_url(get_permalink($post->ID))),
		2 => __('Custom field updated', 'domain'),
		3 => __('Custom field deleted', 'domain'),
		4 => __('Service updated', 'domain'),
		5 => isset($_GET['revision']) ? sprintf(__('Service restored from %s', 'domain'), wp_post_revision_title((int)$_GET['revision'], false)) : false,
		6 => sprintf(__('Service published. <a href="%s">View Service</a>', 'domain'), esc_url(get_permalink($post->ID))),
		7 => __('Service saved', 'domain'),
		8 => sprintf(__('Service saved. <a target="_blank" href="%s">Preview Service</a>', 'domain'), esc_url(add_query_arg('preview', 'true', get_permalink($post->ID)))),
		9 => sprintf(__('Service planned to: <strong>%1$s</strong>. <a target="_blank" href="%2$s">Preview Service</a>', 'domain'),
		 date_i18n(__('M j, Y @ G:i'), strtotime($post->post_date)), esc_url(get_permalink($post->ID))),
		10 => sprintf(__('Draft updated. <a target="_blank" href="%s">Preview Service</a>', 'domain'), esc_url(add_query_arg('preview', 'true', get_permalink($post->ID)))),
	];
	return $messages;
}

/*
 * 
 * Register taxonomy "services-cat" for post type "service"
 * 
 */
add_action('init', 'register_taxonomy_services_cat', 0);
function register_taxonomy_services_cat() {
	register_taxonomy('services-cat', 'service', [
		'labels' => [
			'name'              => __('Services Categories', 'domain'),
			'singular_name'     => __('Category', 'domain'),
			'search_items'      => __('Search Categories', 'domain'),
			'all_items'         => __('All Categories', 'domain'),
			'parent_item'       => __('Parent Category', 'domain'),
			'parent_item_colon' => __('Parent Category:', 'domain'),
			'edit_item'         => __('Edit Category', 'domain'),
			'update_item'       => __('Update Category', 'domain'),
			'add_new_item'      => __('Add New Category', 'domain'),
			'new_item_name'     => __('New Category Name', 'domain'),
			'menu_name'         => __('Categories', 'domain'),
		],
		'hierarchical'      => true,
		'query_var'         => true,
		'rewrite'           => [
			'hierarchical'      => true,
			'slug'              => 'services',
			'with_front'        => false,
		],
		'public'            => true,
		'show_ui'           => true,
		'show_admin_column' => true,
	]);
}

/*
 * 
 * Add services-cat term to service link
 * 
 */
add_filter('post_type_link', 'services_permalink', 1, 2);
function services_permalink($permalink, $post) {
	if (strpos($permalink, '%services-cat%') === false) {
		return $permalink;
	}
	$terms = get_the_terms($post, 'services-cat');
	if (!is_wp_error($terms) && !empty($terms) && is_object($terms[0])) {
		$term_slug = array_pop($terms)->slug;
	}
	else {
		$term_slug = 'no-cat';
	}
	return str_replace('%services-cat%', $term_slug, $permalink);
}

/* 
 * 
 * Set default category for post type "service" if it not setted (optional)
 * 
 */
add_action('publish_service', 'set_default_category_for_service');
function set_default_category_for_service($post_ID) {
	global $wpdb;
	if (!has_term('', 'services-cat', $post_ID)) {
		$cat_id = 1; // default category ID
		$cat = [intval($cat_id))];
		wp_set_object_terms($post_ID, $cat, 'services-cat');
	}
}