There is nothing easy or simple.
Taxonomy => company
Taxonomy => company-type
Where each company has a selected company type
To do this you would need to get all of the terms in company using get terms. Then you would need to loop over the entire set and use get_field() to get the company type. You can’t use get_terms() because in WP terms cannot have terms. Using this method you can assemble your own subset of companies that have a specific company type.
Going back to the beginning I would probably have made company a custom post type with company type being the taxonomy.
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