add_filter( 'aioseo_llms_term_title', 'aioseo_filter_llms_term_title', 10, 2 );

function aioseo_filter_llms_term_title( $title, $term = null ) {

    if ( is_a( $term, 'WP_Term' ) ) {

        $taxonomy = get_taxonomy( $term->taxonomy );

        if ( $taxonomy ) {

            $title = $taxonomy->labels->singular_name . ': ' . $title;

        }

    }

    return $title;

}