I don’t know of any plugins that will alter the permalink structure in this way. ACF is built to manage custom fields and doesn’t do anything at all about managing post types. CPTUI is built to let you define post types but not the relationships between them. Even plugins that I know of that let you manage relationship between post types do not alter the permalink structure in the way you’re looking for. Actually, there are been a few that have attempted this, but I’ve seen these come and go and they have never been reliable enough to depend on for the long hall or they have limitations that can cause a site to break if not used within those limitations.
