You’re trying to use acf/load_field filter and you should probably be using the acf/load_value filter, something like this
function acf_load_taxonomy_custom_urls_table($value, $post_id, $field){
$categories = get_the_terms($post_id, 'category');
foreach ($categories as $category){
echo("<script>console.log('PHP: " . $category->term_id . "');</script>");
$value[] = array(
'field_5b1d513f4bc65' => $category->name,
'field_5b1d51a24bc66' => '',
'field_5b1d51e74bc67' => '',
);
}
return $value;
}
add_filter('acf/load_value/key=field_5b1d50cf4bc64', 'acf_load_taxonomy_custom_urls_table', 20, 3);
Your main problem here is going to be that your categories will be added every time you save and the post refreshes, adding the same values over and over again. What you’ll need to do it to loop over the existing value and make sure each value does not already exist before adding a new row. And then there is the fact that any values deleted will not be deleted unless you also test to see if any categories have been removed and removes those rows from the repeater array.
