Get category fields using MenuCategorizedPages

Is there a way to get the fields from the used categories (like category.title, category.slug) for each menu entry?
i tried to extend the the typoscript by
##
dataProcessing {
10 = TYPO3\CMS\Frontend\DataProcessing\FilesProcessor
10 {
references.fieldName = media
}
20 = TYPO3\CMS\Frontend\DataProcessing\DatabaseQueryProcessor
20 {
table = sys_category
pidInList = root,-1
selectFields = sys_category.*
recursive = 99
as = categories
}
}
##
But the categories array is empty

i want to build a filter for the listed pages (menu)

i'am using TYPO3 10 and i wonder why using and render categories is still so complicated.

I look forward to your suggestions
Olli