As it came up in a thread, this is a quick tutorial on adding custom post type archives and posts to the menu.
When you create your custom post types and custom taxonomies in ACF always ensure Visibility > Appearance Menu Support is ticked
In Appearance > Menus click on Screen Options at the top right and for each custom post type and each custom taxonomy you want to be able to add to the menus tick the checkbox
These will then appear in the left menu allowing you to add them to the menus just like default Pages and Posts, etc.
To add the top level archive for a custom post type - use View All > [Post Type name] Archives
Hopefully this will save you some time.