Pathauto Structure

I have tried everything that I can but still can't get the URL path to work properly.

Basically, I have taxonomy structure that goes make (parent) > model (child) > year (child of a child).

When I create a piece of content I tag it for example as Audi > A4 > 2000. On the URL path, I only want to show domain.com/audi/node-title.

Basically only the parent needs to be on the URL, which works using this structure:

/[node:field_vehicle:0:entity:parents:first]/[node:title]

But the only problem here is when I create a node and stop at Audi and don't select any children.

When the node has been tagged only with Audi taxonomy term the node title shows as domain.com/node-title and I am trying to get it to be domain.com/audi/node-title.

I guess it is not working because in this case there is no parent.

Any ideas if there some other way to achieve this?