Currently, it seems that we can select only one category, but there are some cases that the knowledge can fall into multiple categories.
Is there an option to allow users to select multiple categories, similar to tags?
My concern with the tag that it is optional, so we would need to either enforce tagging option or allow a multi-category option.
Tags are what you want. You can enforce tag assignments in several ways. Have a look at tag groups.
EDIT: Also, remember that requiring tags adds friction to creating a topic, so if you have many to choose from, it’ll be really hard for a user to figure out how to post.