Easiest way to get ancestor IDs using GET api call

I am using the API to get all tasks (and task IDs) from our Workspace. I need to recreate the "Package > Project > Task" and "Package > Project > Subfolder > Task" hierarchy using their names and IDs in a Pandas Dataframe. Is there a way to get all ancestors based on a TaskID?

What is the best way to get this information for a large number of Tasks?