How to add breadcrumbs in product details page with category name in 2.3.4?

I want to add a category name in bread crumb in product detail page?. Can you help me how to do that?

Here is the example I want it.

Home > Main Category Name > Sub category name > Product name

Currently, I can see like this:

Home > Product name

But, need to add a category into that.

Thanks you in advance!