At this moment, the 'use administration pages and help' permission has some flexibility issues. It gives users access to the structure, configuration and help sections at once. Giving a certain role proper access to structure admin pages, without giving it access to configuration admin pages, is not possible using the UI.
Giving users only access to structure admin pages results into a 'You do not have any administrative items.' message on the configuration page.
In my opinion, the access to administration pages should depend on it's child menu-items. For example: if a role has the 'manage blocks' permission, it should automatically have access to the structure page.
By doing this, the 'Use the administration pages and help' permission can be replaced by a 'Use help' permission inside the help module.
Closed: duplicate
10.1 ✨
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Closing as duplicate of ✨ Add new permission for accessing help pages Fixed
Because in 10.x the permission is access administration pages and help module should provide its own permission since we solved
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Make a way for help topics to generate links only if they work and are accessible
Fixed