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Hi,
Sorry for the late reply and thanks for the link to your site and the documentation that you found.
I tested the function to found in the documentation and researched the WP Codex, but I was not able to replace the title bar title with the category name and link.
But I was able to achieve this with jQuery, the following script will only work on single posts that have the breadcrumbs showing since this is where the script gets the category link.
Try adding this code to the end of your functions.php file in Appearance > Editor:

function custom_script(){
  ?>
  <script>
(function($){
  $(document).ready(function(){
  $("#top.single-post").each(function(){
    var caturl = $(this).find(".breadcrumb-trail span:nth-child(4) > span > a").attr("href");
    var catname = $(this).find(".breadcrumb-trail span:nth-child(4) > span > a > span").text();
    $(this).find(".main-title.entry-title a").html(catname).attr("href", caturl);

});
});
})(jQuery);
</script>
<?php
}
add_action('wp_footer', 'custom_script');

Then clear your browser cache and any cache plugin, and check.

Best regards,
Mike

Hi,
Sorry for the late reply, glad to hear this helped.
When I check the breadcrumbs trail on single post items, with multiple categories, only one category is shown in the breadcrumbs.
For example please see the link in the Private Content area, it belongs to the categories “Article of the Week” & “Videos”, but in the breadcrumbs only “Article of the Week” is shown.
So my thought to give to more control over the category that is used for the post title is to scrap the above script and add the primary category as a class to the body of the post and then use that to determine the post title category link.
The drawback to this is that you will need to plan your primarily categories out so only one primary is used for each post and you will have to manually edit the script if you add more primary categories in the future.
Another possible workaround is if you are using Yoast, you can configure the breadcrumb options in Yoast panel then use this function here to set the primary category in the breadcrumbs, and then the script above would work correctly.
So if you use Yoast then please try this, if not then I will try the other approach.

Best regards,
Mike