Topic URL to include its Category

What software is it? You can get the category in a few ways without changing URLs (in the HTML and JSON).

For JSON, instead of scraping this:
https://meta.discourse.org/t/topic-url-to-include-its-category/39996

scrape this:
https://meta.discourse.org/t/topic-url-to-include-its-category/39996.json

and look for the category_id field.

Another possibility is using Data Explorer to extract what you need.