You’ve set up a relationship field with Advanced Custom Fields (ACF), but you need the selected post and it’s Featured Image?
Say no more fam! I gotcha!

The following snippet shows how you can add the Featured Image to the post object that’s returned with the relationship field in Advanced Custom Fields (ACF).
add_filter( 'acf/rest_api/{type}/get_fields', function ( $item, $request ) {
if ( isset( $item['acf']['your-field-name'] ) ) {
foreach( $item['acf']['your-field-name'] as $key => $relation ) {
$relation_id = $relation->ID;
$featured = wp_get_attachment_image_src( get_post_thumbnail_id( $relation->ID ), 'full' );
if ( $featured ) $item['acf']['relationship'][$key]->featured_image = $featured[0];
}
}
return $item;
}, 10, 2 );