Get all posts for custom taxonomy term

If you only need to display posts assigned to a taxonomy (just a list of posts from each term in your taxonomy without displaying term information)

Get only terms IDs:

$custom_terms = get_terms( array(
    'taxonomy' => 'how-to-guide-type', //your taxonomy
    'hide_empty' => true, //ignore terms without posts
    'fields' => 'ids' //return only terms ids
));

Now $custom_terms is an array of terms ids. Modify your tax_query like this:

$query = new WP_Query([
    'post_type' => 'cpt_how_to_guides',
    'orderby' => 'date',
    'order' => 'ASC',
    'tax_query' => [
        [
            'taxonomy' => 'how-to-guide-type',
            'terms' => $custom_terms, //array with terms ids of your taxonomy
            'operator' => 'AND' //display posts from all of these terms
        ],
    ],
]);

Also, you don’t need to create a custom variable for a counter, your $query has a property for this purpose. Use $query->current_post instead of a $counter variable. It starts from zero.