<?php $terms = get_terms(['hide_empty' => true, 'taxonomy' => 'NOME_DA_TAXONOMIA']); ?>

<?php foreach ($terms as $term) : ?>
  <?php
    $posts = get_posts([
      'post_type' => 'NOME_DO_POST_TYPE',
      'tax_query' => [
        [
          'taxonomy' => 'NOME_DA_TAXONOMIA',
          'terms' => $term->term_id,
        ],
      ],
    ]);
  ?>
  <div>
    Titulo da categoria: {{ $term->name }}
    <div class="carousel">
      <?php foreach ($posts as $post) : the_post($post); ?>
        Titulo do post: {{ get_the_title() }}
      <?php endforeach; ?>
    </div>
  </div>
<?php endforeach; ?>