The custom is to read the Haftarah of Acharei-Mot whenever Acharei-Mot and Kedoshim are read together, and whenever Acharei-Mot was pre-empted by another Haftarah, such as Machar Chodesh or Shabbat HaGadol. Since it is very rare for this not to happen, (2024 is the next time), it is read almost invariably on the same Shabbat as Kedoshim. It is even listed in Chumashim as the Haftarah of Kedoshim.
Linear annotated translation of the Haftarah of Kedoshim
But to understand the connection, you really need to look at both Acharei-Mot and Kedoshim, like so: