Yes, there would need to be something if a taxonomy field can have multiple selections, I missed that in your original post
if (have_rows('repeater_field')) {
while (have_rows('repeater_field')) {
the_row();
$name = get_sub_field('name_field');
$titles = get_sub_field('title_field');
echo $name->name,': ';
$count = 0;
foreach ($titles as $title) {
$count++;
if ($count > 1) {
echo ', ';
}
echo $title->name;
}
echo '<br />';
}
}