ACF has documentation for creating a form on the frontend. I would stick to their suggestions. https://www.advancedcustomfields.com/resources/create-a-front-end-form/
I was able to create this by assigning my field group for the form to the custom post type and using a unique template page for the form.
<?php
/**
* Template Name: Form Page Template
*/
?>
<?php acf_form_head(); ?>
<?php get_header(); ?>
<?php while ( have_posts() ) : the_post(); ?>
<?php acf_form(array(
'post_id' => 'new_post',
'new_post' => array(
'post_type' => 'cpt-teste',
'post_status' => 'draft'
),
'submit_value' => 'Submit'
)); ?>
<?php endwhile; ?>
<?php get_footer(); ?>