$terms = get_the_terms($post->ID, 'scategory');   // scategory is my custom taxonomy
$slugs = [];
foreach ( $terms as $term ) {
   $slugs[$term->id] = $term->slug;
}
ksort($slugs); // sorting by slug ids
$finalSlug = join( '/', $slugs ); // making rewrite rule slug for custom post type