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To use All in One SEO Pack with categories, tags and custom taxonomies, go to All in One SEO > General Settings > Content Type Settings and select the taxonomies you want to manage next to SEO on only these taxonomies.
You can view the SEO Titles, SEO Descriptions and SEO Keywords set for your categories, tags and custom taxonomies on the relevant screen. For example, the screenshot below shows the Categories screen in WordPress:
You can edit the SEO and Open Graph meta for your categories, tags and custom taxonomies on the Edit screen for the relevant taxonomy.