What is the best way to change sidebars based on custom taxonomy terms?

There are 2 options that comes in mind

First use a conditional statement is_tax('taxonomy-name', 'term name').

is_tax('fruits', 'apples'){
    get_sidebar('apples');
    get_sidebar('apples-right');
} if is_tax('fruits', 'oranges') {
    get_sidebar('oranges');
    get_sidebar('oranges-right');
}

Or, the second option, use a different template file instead.

taxonomy-fruits-apples.php should use

    get_sidebar('apples');
    get_sidebar('apples-right');

taxonomy-fruits-oranges.php should use

    get_sidebar('oranges');
    get_sidebar('oranges-right');

Hope this help