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In case of Jira Cloud there is system navigation bar and project navigation bar menu item crated also, which is shown for members of user groups selected in Auditors Groups or Time Entry Issue Panel Groups options or for projects selected in Time Entry Issue Panel Projects option, if any configured in app Configuration.
Additionally you can add quick link with Application Navigator - it allows to set its links to be viewable just by the specified groups in a really straight-forward manner.
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