Resolved: If product A is in cart, remove from cart any items in category B, C and D

function action_woocommerce_checkout_before_customer_details() {
    $has_category         = false;
    $category_to_check    = array( 'cat-a' );
    $categories_to_remove = array( 'cat-b', 'cat-b', 'cat-c' );

    if ( ! is_null( WC()->cart ) ) {
        // First loop to find if a "cat-a" product exists in the cart.
        foreach ( WC()->cart->get_cart_contents() as $cart_item_key => $cart_item ) {
            $product_id = $cart_item['product_id'];
            if ( has_term( $category_to_check, 'product_cat', $product_id ) ) {
               $has_category = true;
            }
        }

        // "cat-a" product exists.
        if ( $has_category ) {
            // loop again to find if any product from categories-to-remove exist in the cart.
            foreach ( WC()->cart->get_cart_contents() as $cart_item_key => $cart_item ) {
                $product_id = $cart_item['product_id'];
                if ( has_term( $categories_to_remove, 'product_cat', $product_id ) ) {
                    // found a product belongs to other target categories, remove it.
                    WC()->cart->remove_cart_item( $cart_item_key );
                }
            }
        }
    }
}