Using [pathauto][1], it should be quiet easy with a pattern like :

Normal way :

    news/[node:{NAME_OF_TAXONOMY_FIELD}:entity:name]/[node:title]

With hierarchy :

    news/[node:{NAME_OF_TAXONOMY_FIELD}:entity:parents:join-path]/[node:{NAME_OF_TAXONOMY_FIELD}:entity:name]/[node:title]

In your case, this should work

    [node:{NAME_OF_TAXONOMY_FIELD}:entity:url]/[node:title]


  [1]: https://www.drupal.org/project/pathauto