Hi,
sorry but I think you can't do this, because the & is the separator for parameters, and all the generated URLs could have parameters.
You could maybe do the opposite, I mean to catch an URL like index.php?option=com_content~view=category~id=28~Itemid=53 and redirect it to index.php?option=com_content&view=category&id=28&Itemid=53. You could also do this as internale redirect so the users will never see the target URL.
I hope this makes sense for you. But to be honest, I cannot understand how this is useful. If there is a reason, please, let me know, and maybe I could help you with a better solution.
Kind regards,
Luigi