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Since we do not have any need for subcategories (like I said, we have only 3 categories and no subcats), right now the loop only gets products. If a product was in a subcat, it would still show under the main categories, irrespective of the subcat it was under.

I find it a bit odd to create a subcategory for every product, just to get something simple like this working. I noticed that for product listings this seemed to be the workaround many people used. I guess it depends on the particular cart implementation, a custom mod that takes care of say 3 levels of subcats (incl. products) would be good.

What you have said is fine for single product categories and subcategories. But on our store, the category page lists all products in that category (because there are no subcats), and that works for us.