Trying to list Custom Posts by Taxonomy

I am trying to list the 5 latest posts from a custom post type, on another standard post, and listed by a custom taxonomy value (each standard post will have a different taxonomy value as it needs to list a set of posts specific to that post)

I have tried using a number of shortcode plugins that use the get_post function but they are all limited as I cannot choose both custom post type and taxonomy value at the same time.

What is the most efficient way of doing this?