#setDefaultMemberPermissions() for one of two roles that have same permissions
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Then set that as a Guild admin in discord settings. DefaultMemberPermissions are for setting what permissions are needed for the command. Role-based command permissions are in the jurisdiction of guild admins, not the bot developer
even if the bot is for one guild? rip 
the two roles have same permissions except access to few other channels
Yes, in that case it should be no problem to either
- have an admin of that guild do it or
- get an OAuth2 token of an admin to have your bot do it for them