Thanks.
The below code helps to get the product URL with the Category name in the URL. I hope it will be helpful for the community.
// SFK Modules
$product = new Product($id_product , false, 1);
$link = new Link();
//all product categories, with details
$categories = Product::getProductCategoriesFull($id_product, $id_lang);
$id_category = $product->id_category_default;
$category_link_rewrite = $categories[$id_category]['link_rewrite'];
$sfk_product_url = $link->getProductLink($product,null,$category_link_rewrite,null,$id_lang,$id_shop,0, false, false, false);