How do display CPT with selected taxonomy anywhere on the site?

Sorry, images aren't embedding for me. Here are the links.

Archive: https://www.dropbox.com/s/xh8sriz2glk29m1/archive-view.png

Planning: https://www.dropbox.com/s/lncbg3mdam3pw3h/planning-view.png

Hrm... I figured out the sorting part via a PHP function. However, in the view I want to get it by category. I know my PHP pretty well and could see creating a template file, but I am wanting to accomplish this via the View with Twig.

Here is a bit of code I have that pulls the testimonials, but I am wanting the testimonials that have the category of "planning"

        {% set args = {  post_type: "testimonials", posts_per_page: 20 } %}
        {% set posts = mb.get_posts( args ) %}          
        {% for key, post in posts %}          
            <div>             
                <span>{{ post.post_title}}</span>               
            </div>
        {% endfor %}

This grabs just that. But arguments like cat: "planning" and such do not work. Is there an example anywhere I can see to pull in that category?

Thanks