Here's a numerical solution; like Benoit_11 I don't see the point of doing it symbolically in this context.
There are two solutions within the interval [-pi, pi], the larger one being returned by acos:
% solution within [0, pi]
theta1 = acos(x);
% solution within [-pi, 0]
theta2 = -acos(x);
These solutions repeat at steps of 2 pi. The number of possible steps downwards and upwards can be determined by the integer part of the distance between the basic solution and the respective limit (lower and upper), in units of 2 pi. For theta1:
% repetitions in 2 pi intervals within limits
sd = floor((theta1 - lower) / (2 * pi));
su = floor((upper - theta1) / (2 * pi));
theta1 = (-sd : su) * 2 * pi + theta1
And the same for theta2:
% repetitions in 2 pi intervals within limits
sd = floor((theta2 - lower) / (2 * p