How to generate empty XML element for NULL or non matching values

I have the following query which generates an XML

 use tempdb
 go
 
 -- Prepare sample data
 DECLARE  @Listing  TABLE    (
      ListingID INT,
      Name VARCHAR(200)
     )
     
 DECLARE @Category TABLE (
     ListingID INT,
     CategoryID INT,
     Name varchar(200)
 )
 
 INSERT      @Listing
 VALUES (1, 'Nike'), (2, 'Pizza hut'),(3, 'Towing Dad'),(4, 'Glorious ManiPedi')
 
 
 INSERT @Category
 values (1,1,'Apparel'),(2,2, 'Pizzeria'),(2,3,'All Restaurants'),(3,4,'Towing')
 
 -- Display the XML
 SELECT     
      s.ListingID as [@ListingID],
      s.ListingName as [@ListingName],
     (
         SELECT      x.CategoryID AS [CategoryId],
                     x.Name AS [CategoryName]
         FROM        @Category AS x
         WHERE       x.ListingID = s.ListingID
         FOR XML     PATH('Categories'),
                     TYPE 
      )
 FROM  (
         SELECT      ListingID, Name as ListingName
         FROM        @Listing 
         GROUP BY    ListingID, Name
       ) AS s
 FOR XML     PATH('Listing'),
             ROOT('Listings');

It generates the following XML:

 <Listings>
   <Listing ListingID="1" ListingName="Nike">
     <Categories>
       <CategoryId>1</CategoryId>
       <CategoryName>Apparel</CategoryName>
     </Categories>
   </Listing>
   <Listing ListingID="2" ListingName="Pizza hut">
     <Categories>
       <CategoryId>2</CategoryId>
       <CategoryName>Pizzeria</CategoryName>
     </Categories>
     <Categories>
       <CategoryId>3</CategoryId>
       <CategoryName>All Restaurants</CategoryName>
     </Categories>
   </Listing>
   <Listing ListingID="3" ListingName="Towing Dad">
     <Categories>
       <CategoryId>4</CategoryId>
       <CategoryName>Towing</CategoryName>
     </Categories>
   </Listing>
   <Listing ListingID="4" ListingName="Glorious ManiPedi" />
 </Listings>

How can I make the above query generate the following XML:

 <Listings>
   <Listing ListingID="1" ListingName="Nike">
     <Categories>
       <CategoryId>1</CategoryId>
       <CategoryName>Apparel</CategoryName>
     </Categories>
   </Listing>
   <Listing ListingID="2" ListingName="Pizza hut">
     <Categories>
       <CategoryId>2</CategoryId>
       <CategoryName>Pizzeria</CategoryName>
     </Categories>
     <Categories>
       <CategoryId>3</CategoryId>
       <CategoryName>All Restaurants</CategoryName>
     </Categories>
   </Listing>
   <Listing ListingID="3" ListingName="Towing Dad">
     <Categories>
       <CategoryId>4</CategoryId>
       <CategoryName>Towing</CategoryName>
     </Categories>
   </Listing>
   <Listing ListingID="4" ListingName="Glorious ManiPedi">
        <Categories>
            <CategoryId />
            <CategoryName />
        </Categories>
   </Listing>
 </Listings

Any tips/pointers is appreciated, thanks