How to use breadcrumbs with different URL structure in WordPress?

Hopefully I can explain this correctly as I'm having trouble wrapping my head around it...

I'm building a real estate Web site using WordPress as the CMS. The original plan was to have the listings URL be domain.com/whatever, no matter if its a City, a Park or any other category. So it'd be, domain.com/city-name (all the listings in that city) or domain.com/park-name (all the listings near that park). This is obviously for SEO purposes.

But, I want to have breadcrumbs as well, so in WordPress I have to set it up as domain.com/city-name/park-name so that the breadcrumbs show up properly, but I what I really want is JUST domain.com/park-name, even though the specific property is categorized under that city name and under that park.

Is there a way to achieve this? Have both properly formatted breadcrumbs, for example State > City > Park > Property Name while only showing the URL as domain.com/state or domain.com/city or domain.com/park for the listings? More examples:

State Real Estate would be domain.com/state and not domain.com/properties/state
State > City Real Estate would be domain.com/city and not domain.com/properties/state/city
State > City > Park Real Estate would be domain.com/park and not domain.com/properties/state/city/park

Any help would be greatly appreciated!