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Problem: Restrict access for posts/pages and for Taxonomies.
Solution: You need to use Post Groups feature of Access plugin. Create a new Post Group (name it for example: Only for Admins) >> setup its permission settings >> then assign that new Post Group (instead of Category) to the Pages that you want to restrict for specific user role.
Relevant Documentation: Here is doc which explains this process: https://wp-types.com/learn/create-membership-site-wordpress-using-toolset-plugins/restricting-read-access-specific-pages-posts-members/
Hide some pages from Menu navigation based on user roles, use the Nav Menu Roles plugin, as explain in this step in our doc: https://wp-types.com/learn/create-membership-site-wordpress-using-toolset-plugins/restricting-read-access-specific-pages-posts-members/#nav