get link to custom taxonomy for one custom post type when multiple CPT share the taxonomy

post_type-1 and post_type-2 share the same custom taxonomy.
How do I generate a link to a page which shows all posts of post_type-1 in that custom taxonomy?

I figure that in the end it has to be the following link structure:

?post_types=post_type-1&my-custom-taxonomy=taxonomy-term

Right? Can anyone assist?

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