How to display wordpress taxonomies?

Question

Taxonomy

Hello. There was a problem when working with wordpress custom fields.
I create arbitrary types of records and taxonomy through the plugin (Types), arbitrary fields using the plugin (ACF PRO).
The problem is the following:
I need to display using a custom field - taxonomies with entries inside them:
Taxonomy
title - article title + article url
- article title + article url
...
Taxonomy
title - article title + article url
- article title + URL to the article
...
The official documentation of the plugin did not produce results, due to poor knowledge of php ( https://www.advancedcustomfields.com/resources/tax...
A few screenshots for understanding:
1. Field settings ( joxi.ru/52azJO1IGY1gPA)
2. Structure of the main taxonomy 'trip' ( joxi.ru/ZrJYE1Vt1y4QoA)
3. Field in the page on which you want to display it ( joxi.ru/ZrJYE1Vt1y4koA)
Using documentation, I can only display an array of id of the selected fields, but I need a title and nested posts with links.
I will be glad for any help!
p.s. Thank you in advance!