This works for me
add_action('acf/save_post', 'custom_acf_save_post', 20);
function custom_acf_save_post( $post_id ) {
// bail early if no ACF data
if( empty($_POST['acf']) ) {
return;
}
$data['ID'] = $post_id;
// Combine first name and last name to create a title
$title = trim($_POST['acf']['field_55687a737d49f']) . " " . trim($_POST['acf']['field_55687a917d4a0']);
$data['post_title'] = $title;
$data['post_name'] = sanitize_title( $title );
wp_update_post( $data );
}