Permalink Manger Pro allows to insert the custom fields to the terms & post permalinks (also to custom post types and taxonomies). Here you can find a more detailed instruction how to add the meta values to WordPress permalinks.

List of supported ACF field types:

• Text field
• Relationship field
• Taxonomy field
• Select field
• Post object field (since 2.1.1 version)

If “Relationship”, “Post object” or “Taxonomy” is used as a custom field tag, Permalink Manager will use the slug of selected post/term item.