I'm on my 3rd year using YNAB and I've tweaked my categories along the way and totally redone them twice. I'm not sure if there will ever be anything perfect and I probably have too many, but I find that when I notice an expense regularly tripping me up, it really helps me to pull it out into a separate category.
I won't list all my subcategories, but my current masters are:
Food (groceries, restaurants, coffee...yes, it needs it's own category

)
Household (things like clothing, gifts, misc. household stuff, electronics)
Kids (school expenses, scouts, sports, music lessons, camps, savings etc.)
Pets (food, supplies, vet)
Transportation (gas, maintenance, tolls, registration, insurance)
Personal (each family member has a category here...I use this for kids' allowance and our personal money)
Reimbursable (for work expenses and medical flex)
Donations (church, public radio and tv etc.)
Monthly Bills (utilities, mortgage, Netflix, subscriptions, life insurance etc.)
Yearly Bills (Memberships, HOA dues, homeowner's insurance, property taxes etc.)
Savings (Efund, Vacations, Christmas etc.)