Regarding "endpoint security policies", the role should be Security Admin, as per this link:
https://learn.microsoft.com/en-us/defender-endpoint/mde-security-settings-management
"The Endpoint Security Policies page in Microsoft Defender XDR is available only for users with the security administrator role in Microsoft Defender XDR. Any other user role, such as Security Reader, cannot access the portal. When a user has the required permissions to view policies in the Microsoft Defender portal, the data is presented based on Intune permissions. If the user is in scope for Intune role-based access control, it applies to the list of policies presented in the Microsoft Defender portal. We recommend granting security administrators with the Intune built-in role, "Endpoint Security Manager" to effectively align the level of permissions between Intune and Microsoft Defender XDR."