We had a similar requirement, where it was tedious for us to maintain the users.
Developers - Need RW access to few set of tables
Analysts - R access on all tables
Others - R access to only few tables.
The initial setup was done manually.
We created several roles, each with its own set of rules for accessing tables and views.
We also created a few security groups and added these groups as users in Azure SQL using this command. This is in the link that @ShaktiSingh-MSFT provided.
CREATE USER [<Microsoft_Entra_principal_name>] FROM EXTERNAL PROVIDER;
When a new hire joins, you don't need to log in to the Azure SQL database to grant access. Instead you can add the user directly to the appropriate group.
If they don't need access, remove that particular person from the group, they cannot login to Azure SQL.