There are several nav menu fields, but none have been updated in some time and I don’t know if they will still work. You can do a search here for “menu” to find them https://www.awesomeacf.com/.
I have done this in the past by using a simple select field and populating the select field https://www.advancedcustomfields.com/resources/dynamically-populate-a-select-fields-choices/ using wp_get_nav_menus https://developer.wordpress.org/reference/functions/wp_get_nav_menus/. Then on the front end template calling wp_nav_menu() https://developer.wordpress.org/reference/functions/wp_nav_menu/ to show the menu.
