About the permalinks, you can translate the permalinks for the custom posts following these steps:

– Go to WPML-> Translation Management -> Multilingual Content Setup tab

– Go to Custom posts slug translation options and enable that option

– When the page reloads, you can add a translation for the custom post slug (as shown in the screenshot).

wpml slugs

For the taxonomies permalinks, it’s impossible to do that (while you can translate the terms for sure).