If AAM and AdCloud are both managed by same organisation, then you can contact your AdCloud account manager or AdCloud support team to set up the full taxonomy integration.
Once they set this up, all of your AAM segments (existing and future) will reflect in AdCloud to be picked as audience.
If you have both Search and Display, then you will see 4 destinations within AAM: Search (AMO) and Display (AdCloud) realltime and batch. But, with this integration you don't need to map segments from AAM UI to these destinations.
If AdCloud instance is managed by a different company, then you can contact AdCloud team to set up selective sync integration. With this approach, you will have to map segments to AdCloud destination everytime.