Categories API endpoint

Is there way to get all of the stores categories? I though it could be done from the store-pages API endpoint but apperantly categories and store-pages are not the same thing. What possible way could I fetch all of the categories and tie them to the products they contain from a certain store that has given me an API key?

Thanks

Is there a way to get all of the stores categories and Products in a category via the Commerce APIs?, Similar to the above, please we are waiting for this to be addressed.

Thank you.