I’ve set up a similar situation on a test site and I’m not seeing the behavior you’re seeing.
With your post type set up and your user roles
When I log in as one of the user types I cannot edit the post type at all, it does not appear in the admin menu.
When I log in as the other user type I can edit the post type and any ACF field groups that I add to that post type are visible and I can edit them
Sorry, I don’t remember which role is which
What are the location rules on the field groups you have on this post type?
