You could try this:
add_filter( 'generate_category_list_output', function() {
return sprintf(
'<span class="cat-links">%3$s<span class="screen-reader-text">%1$s </span>%2$s</span> ',
esc_html_x( 'Categories', 'Used before category names.', 'generatepress' ),
strip_tags( get_the_category_list( ', ' ) ),
apply_filters( 'generate_inside_post_meta_item_output', '', 'categories' )
);
} );
add_filter( 'generate_tag_list_output', function() {
return sprintf(
'<span class="tags-links">%3$s<span class="screen-reader-text">%1$s </span>%2$s</span> ',
esc_html_x( 'Tags', 'Used before tag names.', 'generatepress' ),
strip_tags( get_the_tag_list( '', ', ' ) ),
apply_filters( 'generate_inside_post_meta_item_output', '', 'tags' )
);
} );