Steps to reproduce the issue

Configuration:

• 1 category C
• 2 tags T1 and T2
• 1 article A1 with category C and tag T1
• 1 article A2 with category C and tag T2
• 1 menuitem M1 type category blog filtered on one category C and filtered on tag T1
• 1 menuitem M2 type category blog filtered on one category C and filtered on tag T2
  The menu items are displayed in this order (important)

Steps:

Click on menuitem M2, the article A2 is displayed in the list. The breadcrumb is "Home > M2". This is OK.
Click on acticle A2 to display it and watch the breadcrumb.

Expected result

The breadcrumb associated to the article A2 should be "Home > M2 > A2".

Actual result

The breadcrumb is "Home > M1 > A2". This is KO.
The url is not correct too.

System information (as much as possible)

Joomla! 3.9.12
Template protostar
No need of multilingual site

Additional comments

You have an example here :
Open page https://joomla.l-oranger.fr/index.php/design-joomla : the breadcrumb is "Accueil > Design Joomla!". This is OK.
Click on title of first article to display this article :
https://joomla.l-oranger.fr/index.php/developpement-joomla/3-ideas-to-design-sites : the breadcrumb is "Accueil > Développement Joomla! > Ideas to design sites". The url is wrong too. It should be https://joomla.l-oranger.fr/index.php/design-joomla/3-ideas-to-design-sites (which works too).