If I understand properly, you want to show related FAQ based on categories.
On your entry template, you could do something like this:
{# Fetch the categories of the current entry #}
{% set entryCategories = entry.yourCategoriesFieldHandle.all() %}
{# Find related entries #}
{% set relatedFaqs = craft.entries()
.section('faqs')
.relatedTo(entryCategories)
.all() %}
{# Display related FAQs #}
<ul>
{% for entry in relatedFaqs %}
<li><a href="{{ entry.url }}">{{ entry.title }}</a></li>
{% endfor %}
</ul>
Change yourCategoriesFieldHandle
to what your field handle is and .section('faqs')
to the correct section handle for your FAQ's section.