I would suggest querying a list of all post types using get_post_types. With that array you can do a foreach. and for each post type, query all terms with get_term. It would look something like this, but you should pass get_post_types your know post types, because as it stands, this will also display things like attachments and nav menus.
function agency_wp_test() {
$post_types = get_post_types();
foreach ( $post_types as $post_type ) {
$taxonomy_names = get_object_taxonomies( $post_type );
$terms = get_terms( $taxonomy_names, array( 'hide_empty' => false ));
if ( ! empty( $terms ) && ! is_wp_error( $terms ) ){
echo '<h5>'.$post_type.'</h5>';
echo '<ul>';
foreach ( $terms as $term ) {
echo '<li>' . $term->name . '</li>';
}
echo '</ul>';
}
}
}
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