How to make pseudo tabs for the product with the same term?

I have to make something like pseudo-tabs on the product page(in sidebar). There is a taxonomy called ‘model’. Every model has 4-5 products. So I have to show else 3-4 produts of that model on each product page in sidebar. What’s the best decision? I don’t need cross-sells in the cart, so maybe simply take them? Or a harder way – to get the term of a current product, and to get all products with this term? Maybe you have some examples? I’m losted at all. Never had to do something like that before. I’m not lazy to read, but I actually don’t know what to search and what’s the algorithm.