I have never seen the word "catergorial" before. I just did a Google search for it and got just 2 hits, both to the same book. (https://ebooksilo.com/pdf/catergorial-grammar-and-the-logical-form-of-quantification) And I looked it up in thefreedictionary.com and it wasn't found.
It's possible that it's a technical term from some field. Or it could be a mis-spelling, probably of "categorical" as you suggest, both in your example and in the title of that book.
If someone else on here knows a definition for this word, please shout it out.
There are so many specialized words in English used only by a small community that I'm reluctant to say that it is a mis-spelling. It may just be a word I've never heard before. There are surely many such words. But my first guess would be mis-spelling.
I see the post has been updated to change "catergorial" to "categorial". If this is the word encountered, that completely changes the answer.
"Categorial" is found in many dictionaries and means "of or relating to a category". This is also a definition of "categorical", so the two words can be synonyms. ("Categorical" also has other meanings.)
So the original writer might well have intended to write "categorial".