Parent category in breadcrumbs

Hi all,
I’ve seen this question before, but haven’t seen a satisfying answer yet.

If I choose a subcategory from the menu , for instance Books -> English Books, I’d expect the breadcrumb to be like

Home / Books / English Books

but it actually is

Home / English Books

That doesn’t make sense does it? What’s the whole point of using a breadcrumb if only the last and first crumb are visible? You’d definitely would get lost in the woods….

Not only should the breadcrumb change, but the URL should change correspondingly to /listing-category/books/books-english ( or even better without listing-category)

I’d tried changing permalinks, but changing this doesn’t reflect in the URL or breadcrumb.

What do I need to change to get this working?