I can’t help you much with the query to directly query the DB. That would be over my head. I could probably figure it out but I prefer easier solutions.
For something like this I would create an acf/save_post action. In my filter I would get the values from the related posts that I want to base a search on and store them in WP custom fields connected to the posts I want to search. Here is an only explanation of doing that https://web.archive.org/web/20190814230622/https://acfextras.com/dont-query-repeaters/. The link deals with repeater fields but it can easily be applied to this case as well.
