Try this:
add_filter( 'generate_post_date_output', function( $output ) {
echo $output;
if ( ! is_single() ) {
$categories_list = get_the_category_list( ', ' );
if ( $categories_list ) {
echo '<span class="cat-links">' . $categories_list . '</span>';
}
}
} );
Then disable the category option in Customize > Layout > Blog.