Nested permalink structure for ‘related’ post types

I have 3 post types
(I created them with CPTUI plugin just so I didn’t need to type it out myself)

– course
– unit
– lesson

I ‘related them’ to each other with ACF’s relation field

units belong_to courses
lessons belong_to units

I’d love some permalinks like this

/course/course-name (got this already)
/course-name/unit-name (don’t have this)
/course-name/unit-name/lesson-name (don’t have this)

Does anyone have any experience with this? I’ve been working with the included permalink stuff – as well as the custom-post-type-permalinks

There are a few threads at ACF https://support.advancedcustomfields.com/forums/topic/permalink-structure-for-related-post-types/#post-88669 / but this isn’t really in the realm of either CPTUI or ACF – so, I ask here. : )