wp_insert_post custom taxonomy

wp_set_post_terms() function will only work on the native post type.

For a taxonomy on a custom post type use wp_set_object_terms().

Change your code to:

wp_set_object_terms( $pid, $_POST['cat'], 'books-categories', false );
wp_set_object_terms( $pid, $_POST['location'], 'location', false );

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