Retrieve list of categories inside date.php template

I’ve created a date.php template, where the visitor browse the archive of the custom posts grouped by year.
I would like to create a slightly helpful structure, giving the possibility to browse the archive by category.

Is there a way to retrieve the list of terms of a custom taxonomy for the custom posts in a certain archive?
For example if you choose “2016” and you arrive at the archive page of the custom posts written in 2016, is there a way to retrieve the list of the categories of all the posts of that year?

I’ve searched if existed a plugin that would expand the arguments for wp_list_category, giving the possibility to refer to the date, but I’ve not found nothing.

If it was found that for that year the categories would be “Cat A” and “Cat B”, if you would click on the link, you would go to the url “www.sitename.com/custom-taxonomy-cat-a” or to “www.sitename.com/2016/cat-a”?

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