Hey Elliot,
Thank you so much, I got it working!
I feel like I did it a bit dirty, but I got it working exactly as I wanted. Code for future reference to anyone who needs it:
$items = wp_get_nav_menu_items('radiozenders');
foreach((array) $items as $key => $item) {
$taxonomy = $item->object;
$term_id = $item->object_id;
$url = $item->url;
$title = $item->title;
echo '<li><a href="'.$url.'" title="'.$title.'"><img src="'.get_field('icoon', $taxonomy._.$term_id).'" /></a></li>';
}