Category Slugs Become Case-Sensitive When "Show the Categories Prefix in the Slug" is Unchecked

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Please give us a description of what happened

When I uncheck the "Show the categories prefix in the slug" option in Yoast SEO (Yoast > Settings > Categories & Tags > Categories > Additional settings), the category slugs become case-sensitive (this is not normal for WordPress slugs).

For example, /tokyo/ works, but /TOkyo/ results in a 404 error, or category 'Abcdefg' would show correctly at mydomain.com/abcdefg/, but mydomain.com/ABCDEFG/ will either 404 or navigate to a different page (that has 'Abcdefg' in the title).

To Reproduce

Step-by-step reproduction instructions

Uncheck the "Show the categories prefix in the slug" option in Yoast SEO
Navigate to a category page
Try the same URL with all-caps

Expected results

All case variations of the slug should navigate to the category page (like the default WordPress behavior)

Actual results

Lowercase only slug navigated correctly
Mixed/Uppercase slugs navigate elsewhere (either 404, or redirected by WordPress)

Screenshots, screen recording, code snippet

If possible, please provide a screenshot, a screen recording, or a code snippet which demonstrates the bug.

Technical info

If relevant, which editor is affected (or editors):
[ ] Block Editor
[ ] Gutenberg Editor
[ ] Elementor Editor
[ ] Classic Editor
[ ] Other:

Which browser is affected (or browsers):
[ ] Chrome
[ ] Firefox
[ ] Safari
[x] Other: Browser does not appear to be relevant here

Used versions

Device you are using: PC
Operating system: Windows 10
PHP version: 7.4.33 (Supports 64bit values)
WordPress version: 6.5.3
WordPress Theme: Custom (also tried with default theme, and the issue persists)
Yoast SEO version: 22.7
Gutenberg plugin version:
Elementor plugin version:
Classic Editor plugin version:
Relevant plugins in case of a bug:

Yoast / wordpress-seo