Old questions and I assume that you’ve either figured this out or moved on by now, but for anyone else that’s looking for the same information please see the “Get a value from other places” section of this page https://www.advancedcustomfields.com/resources/get_field/
Specifically for the OP the following code
foreach ( $t_items as $t_item ) :
$menu_footer = get_field( 'menu_footer', $t_item->slug );
should look like
foreach ( $t_items as $t_item ) :
$menu_footer = get_field( 'menu_footer', $t_item->taxonomy.'_'.$t_item->term_id );