Apply domain to menu access

i need to show the menu to a specific set of users based on some condition. for example, is a user’s employee is eligible for certain allowances, then only the menu related to those specific allowances be visible to them.

how can this be achieved in tryton 5.0?

Best way is to define a group and add specific users to this group.
Then you allow only access this group to the menu.
See example here (and lines before for adding new group):