Graphene hybrids, made of thin insulators, graphene, and metals can support propagating acoustic plasmons (AGPs). The metal screening modifies the dispersion relation of usual graphene plasmons leading to slowly propagating plasmons, with record confinement of electromagnetic radiation. Here, we show that a graphene monolayer, covered by a thin dielectric material and an array of metallic nanorods can be used as a robust platform to emulate the Su-Schrieffer-Heeger model. We calculate the Zaks phase of the different plasmonic bands to characterise their topology. The system shows bulk-edge correspondence: strongly localized interface states are generated in the domain walls separating arrays in different topological phases. We find signatures of the nontrivial phase which can directly be probed by far-field mid-IR radiation, hence allowing a direct experimental confirmation of graphene topological plasmons. The robust field enhancement, highly localized nature of the interface states, and their gate-tuned frequencies expand the capabilities of AGP-based devices.