Display posts from same name term different CPT

I have 2 custom post types each with an identical set of taxonomy terms.

On single posts for CPT1 I wish to display in the sidebar widget a list of posts from CPT2 who’s term matches the current post’s term.

CPT1: program_listings
Taxonomy: category
Terms: term-a, term-b, term-c

CPT2: post
Taxonomy: post_categories
Terms: term-a, term-b, term-c

Something that will pull like:

if current program_listings term is ‘term-b’; then display 5 posts from post_categories term ‘term-b’