By using the Posts Widget in the Single Post Template, you can display Related Posts by terms. Terms include Categories, Tags, Types, and Formats.
Create or Edit your Single Post TemplateFrom the Widgets Panel drag a Posts Widget to the desired locationIn the Source drop down options select RelatedInclude By – TermTerms – Choose by Categories, Tags, Type, or FormatSet the Exclude Terms if neededPublish or update your Single Post Template
Additional Resources:
https://developer.wordpress.org/themes/functionality/post-formats/