I'm using Authentik for SSO for a while and it has been great. It's relatively easy to configure with many guides available.
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I know Authentik supports managing access per role, it's how it's meant to be used. https://goauthentik.io/docs/applications#authorization
Seems they have a doc on setting it up with gitlab. https://goauthentik.io/integrations/services/gitlab/
For your usecase if you are fine with proxying your apps via cloudflare I would recommend using cloudflare access, the UI is slow and sluggish but it's quick to set up and hassle free. Also key cloak can get the job done by making a separate realm per app, we did that at one of my previous jobs.