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How best to structure multiple CPTs and tax within a ‘resources’ section

I’ve worked with redirects before but I’m scratching my head on this and hoping someone can help me out, maybe it’s not even possible.

I’ve got a main Resources page here which shows content from different post types:

domain.com/resources

I can also view single posts at:

domain.com/resources/post-name

And I can see the archive for a given CPT at:

domain.com/resources/post-name

But what I can’t do is have custom taxonomies on the same level, for example

domain.com/resources/tax-name

Is this possible or will it never work as WordPress can’t tell the difference between a single post or a taxonomy when they are on the same level?