Please see this topic 😄
Not that I've seen. I think you can technically do this in your own plugin.
You could fetch all of the category names at load time, then define the routes, using the same category controllers used in NodeBB core. It might be too complex if you've never written a plugin before however.
I would then suggest adding a
rewriterule to your server config, so that requests to
/category/1/CATEGORY_NAMEare changed to
/CATEGORY_NAMEbefore they even reach NodeBB.