So how are you going to decide what icon to show?
I personally would add a field to the taxonomy so that you can specify the icon when adding or editing the term and then I’d do something like.
$terms = get_field('taxonomy_field');
if ($terms) {
foreach ($terms as $term) {
echo get_field('icon_field', $term);
}
}
There would obviously need to be more code, but that’s the basics.