The standard WP permalinks for CPT and taxonomies is
CPT
archive = /$post_type/
single = /$post_type/$post_name/
Taxonomy
archive /$taxonomy_name/$term_slug
Anything outside of this is beyond the ability of ACF or any other plugin that manages custom post types that is available (as far as I know) to accomplish.
The only way to do this is by adding custom rewrite rules and custom permalink structure using WP actions and filters. It is a complicated process and more than I can explain here. Even this is going to be limited because your superstructure and rewrite rules will need to supply WP with the post type, the taxonomy, the term and the post name in order for the main query to find the correct page.
To do this you will need to look at some or all of the following:
