re: Is there a way to show the bio on the single page/post entries… From the directory if you click the name (linked) it takes you to the individual page for that listing.
Yes, cMap supports this out of the box. Checkout the demo. None of them actually have any thing in the bio, but if they did, they would sho on the single page.
re: It also list categories on this page, is there a way to link those categories to take visitors to them?
The Widget Pack has a category list. You could use a plugin like Widget Logic so it only shows on the directory page. Also, it may not be needed because the cMap template has a user searchable category drop down.
Hope that helps!