Simply use the taxonomy field.
https://www.advancedcustomfields.com/resources/taxonomy/
You can define which taxonomy to handle and how the appearance should work…
Which is awesome, because you optionally can use radio or select if you don’t want the user to set more than one taxonomy term per post.
Make sure you always set this to true if you want it work as you have described.
You can then define in your custom taxonomy code args 'show_ui' => false. This will hide the default taxonomy metabox, so you only your acf taxonomy metabox can be used.
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