It’s quite possible, you should probably do some testing, but, my understanding is that if you use get_post_meta($post_id) without specifying a meta_key that WP gets all of the meta values for a post in a single query. WP also caches the results of this in a non-persistent cache so that the next time the function is called it uses values it already has. The ACF get_field() and other functions are just wrappers for get_post_meta() and get_option().
