The only way to do that is to inform people that the ACF plugin is required. There are things that you can add to your plugin that will automatically install other plugins if they are not installed so that they can be updated as other plugins.
What you want to do for loading the custom fields can be done by adding an acf-json folder to your plugin, move the field groups for your plugin into this folder and then adding a load point https://www.advancedcustomfields.com/resources/local-json/
You can hide your field groups so they cannot be syned by editing the json file and setting them to private
"modified": 1503334184,
"private": true
