Use below snippet to get a custom field from a taxonomy, snippet queries a taxonomy and then uses a foreach to loop through each entry to return it's name and a custom field icon url.
@php $facilities_list = wp_get_post_terms( $post->ID, 'facilities' ) @endphp
@foreach ($facilities_list as $term)
@php $tax_icon = get_field('icon', $term->taxonomy . '_' . $term->term_id) @endphp
<span class="icon" style="background-image: url({{ $tax_icon['url'] }});" data-toggle="tooltip" data-placement="top" title="{{ $term->name }}"><span class="sr-only">{{ $term->name }}</span></span>
@endforeach