WordPress URL Rewriting

I have a CPT called ‘cars’.
In this CPT, I have a taxonomy called ‘color’.
In this taxonomy, I have 3 Terms called ‘black’, ‘white’, ‘red’.
I have a page, displayed in the main menu, called ‘Discover Cars’.

So, currently, when I’m on single post, i have URL like this :
www.mywebsite.com/cars/single-post

-> I would like to re-write my URL liks this :
www.mywebsite.com/discover-cars/term(black)/single-post

To be more clear, i would like :
site / page / term / single-post – (Term is the term of the single post)

Thanks

Read more here:: WordPress URL Rewriting

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