The only way to achieve this automatically is if the link was generated using a specific BB-Code for the Category: prefix. In this case, the current behavior is to try both variations.
Otherwise if it is just a random incoming link, there is no way to guess the intended target prefix without greatly inflating the overhead. With a guess or even if a setting was used, you would cripple your ability to create both /wiki/name and /wiki/category:name, because category will basically just become an alias of "[No Prefix]". You should just use synonyms for the specific cases you need.