The Census Bureau publishes many ACS summary tables for geographic areas at many levels, including counties. But the 1-year summary data are published only for areas with at least 65,000 residents, which excludes most counties. (The 1-year sample size isn't large enough to produce reliable statistics for most characteristics for areas with fewer people.) If you need summary data for all counties, you'd need to get 5-year summary data. E.g., the most recent 5-year data summarize characteristics across all 5 years from 2018 through 2022.
The Bureau's site for finding summary tables is data.census.gov. I work at IPUMS where we have another site, IPUMS NHGIS, that provides ACS summary tables. If you struggle to find what you're looking for with data.census.gov (not uncommon), you might find it easier to find what you're looking for at NHGIS.