Hide inaccessible pages from menus

I’m working on a test site evaluating WordPress as a replacement for Drupal 7 for our membership site as it’s approaching end of life. I’ve set up some simple pages and a couple of test accounts with different access rights. Only roles with the appropriate permissions can see the content on pages, with others seeing the error message from the Members settings page – all as intended. However, every page is still appearing in the menu for every user, including anonymous users, so for anyone who’s not a registered user the site is covered in links to pages that just show an error message.

Is there a way to setup Members so that menus only include the pages a given role have permission to see?