Any way to get categoryId using Youtube v3 search API

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Went through the youtube search API to search for videos/playlists/channels for a searchTerm. The results/items returned doesn't contain categoryId as part of snippet. But the API for videos does return categoryId in items but doesn't provide a way to search for a term.

Is there any way or I have to first search the videos using the search call and then pass all videoIds to videos call to get the categoryIds for each ?

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