"Say Im jamming using a minor pentatonic and I want to add chords in between licks. How can I do that? Should I know all the chords that go along with the specific key Im using or is there a simple way?"

To me this like asking "how can I juggle and ride a unicycle at the same time?"

Practice doing both;

know how to do them both very well separately

then practice doing them together.

Focusing on chords and then throwing in licks sounds more effective to me;

because I think it's easier to think in context of measures with chords; but regardless...