Custom Taxonomy Category link

I seem to go round and round in circles here, I think lack of vocabulary or not knowing what I’m searching for is causing me my problems.

I have a custom post type projects and have a taxonomy to reflect that.
When trying to add categories links from this post type in a menu, it links on the site as domain.com/category/custom_cat

Ideally, I would like the URL to read: domain.com/projects/custom_cat

Could someone please point me in the right direction.

Many thanks!

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