Converting Categories (with ACF fields) to custom taxonomies

I think you can retrieve all your custom Categories as term object. Than create your categories and wp_insert_term()
should help you. In ACF field setting – include your taxonomy in Locations rules. Yoast meta save data in meta_query. For taxonomy – wp_termmeta. For each your category – extract meta fields and import to new term.

This should be one loop for old categories.
I might you understand me. Sorry for my English.

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