It's easy to overlay the two plots, what is hard is to put the bar chart exactly over a point coordinate. I made this example with only one bar chart, but it's only an approximation:
import geopandas as gpd
import matplotlib.pyplot as plt
world = gpd.read_file(gpd.datasets.get_path('naturalearth_lowres'))
fig = plt.figure()
ax_map = fig.add_axes([0, 0, 1, 1])
world.plot(ax=ax_map)
lat, lon = 19.432608, -99.133208
ax_bar = fig.add_axes([0.5*(1+lon/180) , 0.5*(1+lat/90) , 0.05, 0.05])
ax_bar.bar([1, 2, 3], [1, 2, 3], color=['C1', 'C2', 'C3'])
ax_bar.set_axis_off()
plt.show()
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