How to prevent WordPress from redirecting single page to prefixed category archive with same name?

EDIT

1. Make sure your category base is specified in Permalinks. Save them.
2. Remove any custom permalink slugs in the category terms.
3. Go to Yoast > Search Appearance > Taxonomies and scroll to the very bottom. Make sure Category URLs is set to Keep.
4. Clear any cache and/or flush_rewrite_rules.
5. Voila it's fixed.