Thermoacoustic technology emerges as a sustainable and low-carbon method for energy conversion, leveraging environmentally friendly working mediums and independence from electricity. This study presents the development of a multimode heat-driven thermoacoustic system designed to utilize medium/low-grade heat sources for room-temperature cooling and heating. We constructed both a simulation model and an experimental prototype for a single-unit direct-coupled thermoacoustic system, exploring its performance in heating-only, cooling-only, and hybrid heating and cooling modes. Internal characteristic analysis including an examination of internal exergy loss and a distribution analysis of key parameters was first conducted in the hybrid cooling and heating mode. The results indicated a positive-focused traveling-wave-dominant acoustic field within the thermoacoustic core unit, enhancing energy conversion efficiency. The output system performance was subsequently tested under different working conditions in the heating-only and cooling-only modes. A maximum output heating power of 2.3 kW and a maximum COPh of 1.41 were observed in the heating-only mode. Meanwhile, a cooling power of 748 W and a COPc of 0.4 were obtained in the typical cooling condition at 7 °C when operating in cooling-only mode. These findings underscore the promising potential of thermoacoustic systems for efficiently utilizing medium/low-grade heat sources for cooling and/or heating applications in the future.