Hi Daniel,
Thanks for reaching out!
You can edit the view templates by following the instructions in our themer’s guide to copy them into your child theme. You can add <?php echo tribe_get_event_taxonomy(); ?> in the template to display the category, wherever you’d like it to display.
For the single event view, you can find the template at wp-content/plugins/the-events-calendar/src/views/single-event.php.
You can find other views in /wp-content/plugins/the-events-calendar/src/views/ (for The Events Calendar) and /wp-content/plugins/events-calendar-pro/src/views/ (for Pro).
Let me know if that works for you!
Thanks,
Jennifer