WordPress - How to redirect a custom post type's single page to a taxonomy page

functions.php

<?php

function wp9899234_parse_query() {
    if ( is_admin() || is_single() || '<post_slug>' !== get_post_type()  ) {
        return;
    }

    // Work out taxonomy page
    // $tax_permalink = ...?

    wp_redirect( $tax_permalink ); exit;
}
add_action( 'parse_query', 'wp9899234_parse_query' );