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This is similar to what we do to grant access to CMS area. In order to do that create Go to CMS -> Settings -> Administer Groups and create your "CustomerServiceRep" for example see below screenshot
Then, in permission for functions, update any permission for function you want to grant access to
I hope screenshot will help it to understand quickly. Let me know if you are unclear with something.
Hello, how do we go about setting up a CustomerServiceRep group that woul be able to login to Commerce and see the modules as Customers, Order Management, Marketing