WordPress Pagination on single.php from the same category and/or taxonomy

pagination.php

<div id="pagination">

	<?php
	$prev_post = get_previous_post(true, '', 'taxonomy');
	$next_post = get_next_post(true, '', 'taxonomy');
	?>
	
	<?php if (!empty( $prev_post )): ?>
	<div class="prev">
		<a href="<?php echo get_permalink( $prev_post->ID ); ?>">
			<div class="title"><?php echo get_the_title($prev_post); ?></div>
		</a>
	</div>  
	<?php endif; ?>

	<?php if (!empty( $next_post )): ?>
	<div class="next">
		<a href="<?php echo get_permalink( $next_post->ID ); ?>">
    		<div class="title"><?php echo get_the_title($next_post); ?></div>
		</a>
	</div>
	<?php endif; ?>
	
</div>

To paginate all items in a Custom Post Type, one should use get_previous_post() and get_next_post(). The 'taxonomy' value is based on paginating in the same Custom Taxonomy.