1. Create a file with the following layout: Vendor\Module\view\layout\catalog_product_view.xml

<?xml version="1.0"?>
<page layout="1column" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="urn:magento:framework:View/Layout/etc/page_configuration.xsd">
    <body>
        <referenceBlock class="Vendor\Module\Block\Breadcrumbs" name="breadcrumbs" template="Magento_Theme::html/breadcrumbs.phtml"/>
    </body>    
</page>

<?xml version="1.0"?>

<body>

</body>

</page>

2. Create a file with the following block: Vendor/Module/Block/Breadcrumbs.php

<?php
namespace Vendor\Module\Block;
use Magento\Catalog\Helper\Data;
use Magento\Framework\View\Element\Template\Context;
use Magento\Store\Model\Store;
use Magento\Framework\Registry;

class Breadcrumbs extends \Magento\Theme\Block\Html\Breadcrumbs
{
    /**
     * Catalog data
     *
     * @var Data
     */
    protected $_catalogData = null;

    /**
     * @param Context $context
     * @param Data $catalogData
     * @param array $data
     */
    public function __construct(Context $context, Data $catalogData, Registry $registry, array $data = [])
    {
        $this->_catalogData = $catalogData;
        $this->registry = $registry;
        parent::__construct($context, $data);
    }

    /**
     * Retrieve HTML title value separator (with space)
     *
     * @param null|string|bool|int|Store $store
     * @return string
     */
    public function getTitleSeparator($store = null)
    {
        $separator = (string)$this->_scopeConfig->getValue('catalog/seo/title_separator', \Magento\Store\Model\ScopeInterface::SCOPE_STORE, $store);
        return ' ' . $separator . ' ';
    }

    public function getCrumbs() {
        return $this->_crumbs;
    }

    /**
     * Preparing layout
     *
     * @return \Magento\Catalog\Block\Breadcrumbs
     */
    protected function _prepareLayout() {

        $title = [];
        if ($breadcrumbsBlock = $this->getLayout()->getBlock('breadcrumbs')) {
            $breadcrumbsBlock->addCrumb(
                    'home', [
                'label' => __('Home'),
                'title' => __('Go to Home Page'),
                'link' => $this->_storeManager->getStore()->getBaseUrl()
                    ]
            );
            $path = $this->_catalogData->getBreadcrumbPath();
            $product = $this->registry->registry('current_product');

            if ($product && count($path) == 1) {
                $categoryCollection = clone $product->getCategoryCollection();
                $categoryCollection->clear();
                $categoryCollection->addAttributeToSort('level', $categoryCollection::SORT_ORDER_DESC)->addAttributeToFilter('path', array('like' => "1/" . $this->_storeManager->getStore()->getRootCategoryId() . "/%"));
                $categoryCollection->setPageSize(1);
                $breadcrumbCategories = $categoryCollection->getFirstItem()->getParentCategories();

                foreach ($breadcrumbCategories as $category) {
                    $catbreadcrumb = array("label" => $category->getName(), "link" => $category->getUrl());
                    $breadcrumbsBlock->addCrumb("category" . $category->getId(), $catbreadcrumb);
                    $title[] = $category->getName();
                }
                //add current product to breadcrumb
                $prodbreadcrumb = array("label" => $product->getName(), "link" => "");
                $breadcrumbsBlock->addCrumb("product" . $product->getId(), $prodbreadcrumb);
                $title[] = $product->getName();
            } else {
                foreach ($path as $name => $breadcrumb) {
                    $breadcrumbsBlock->addCrumb($name, $breadcrumb);
                    $title[] = $breadcrumb['label'];
                }
            }
            $this->pageConfig->getTitle()->set(join($this->getTitleSeparator(), array_reverse($title)));
            return parent::_prepareLayout();
        }
        $path = $this->_catalogData->getBreadcrumbPath();
        foreach ($path as $name => $breadcrumb) {
            $title[] = $breadcrumb['label'];
        }
        $this->pageConfig->getTitle()->set(join($this->getTitleSeparator(), array_reverse($title)));
        return parent::_prepareLayout();
    }
} ?>

<?php

namespace Vendor\Module\Block;

use Magento\Catalog\Helper\Data;

use Magento\Framework\View\Element\Template\Context;

use Magento\Store\Model\Store;

use Magento\Framework\Registry;

class Breadcrumbs extends \Magento\Theme\Block\Html\Breadcrumbs

{

/**

* Catalog data

* @var Data

protected $_catalogData = null;

/**

* @param Context $context

* @param Data $catalogData

* @param array $data

public function __construct(Context $context, Data $catalogData, Registry $registry, array $data = [])

{

$this->_catalogData = $catalogData;

$this->registry = $registry;

parent::__construct($context, $data);

}

/**

* Retrieve HTML title value separator (with space)

* @param null|string|bool|int|Store $store

* @return string

public function getTitleSeparator($store = null)

{

$separator = (string)$this->_scopeConfig->getValue('catalog/seo/title_separator', \Magento\Store\Model\ScopeInterface::SCOPE_STORE, $store);

return ' ' . $separator . ' ';

}

public function getCrumbs() {

return $this->_crumbs;

}

/**

* Preparing layout

* @return \Magento\Catalog\Block\Breadcrumbs

protected function _prepareLayout() {

$title = [];

if ($breadcrumbsBlock = $this->getLayout()->getBlock('breadcrumbs')) {

$breadcrumbsBlock->addCrumb(

'home', [

'label' => __('Home'),

'title' => __('Go to Home Page'),

'link' => $this->_storeManager->getStore()->getBaseUrl()

]

);

$path = $this->_catalogData->getBreadcrumbPath();

$product = $this->registry->registry('current_product');

if ($product && count($path) == 1) {

$categoryCollection = clone $product->getCategoryCollection();

$categoryCollection->clear();

$categoryCollection->addAttributeToSort('level', $categoryCollection::SORT_ORDER_DESC)->addAttributeToFilter('path', array('like' => "1/" . $this->_storeManager->getStore()->getRootCategoryId() . "/%"));

$categoryCollection->setPageSize(1);

$breadcrumbCategories = $categoryCollection->getFirstItem()->getParentCategories();

foreach ($breadcrumbCategories as $category) {

$catbreadcrumb = array("label" => $category->getName(), "link" => $category->getUrl());

$breadcrumbsBlock->addCrumb("category" . $category->getId(), $catbreadcrumb);

$title[] = $category->getName();

}

//add current product to breadcrumb

$prodbreadcrumb = array("label" => $product->getName(), "link" => "");

$breadcrumbsBlock->addCrumb("product" . $product->getId(), $prodbreadcrumb);

$title[] = $product->getName();

} else {

foreach ($path as $name => $breadcrumb) {

$breadcrumbsBlock->addCrumb($name, $breadcrumb);

$title[] = $breadcrumb['label'];

}

$this->pageConfig->getTitle()->set(join($this->getTitleSeparator(), array_reverse($title)));

return parent::_prepareLayout();

}

$path = $this->_catalogData->getBreadcrumbPath();

foreach ($path as $name => $breadcrumb) {

$title[] = $breadcrumb['label'];

}

$this->pageConfig->getTitle()->set(join($this->getTitleSeparator(), array_reverse($title)));

return parent::_prepareLayout();

}

} ?>

3. Override breadcrumbs.phtml below theme path:
YOUR_THEME\Magento_Theme\templates\html\breadcrumbs.phtml

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