A user with the built-in WordPress AUTHOR role can publish and edit/delete posts/pages they create themselves (or you make them an author of): https://www.ads-software.com/support/article/roles-and-capabilities/#author

And you can very easily change the author of any post/page from either the post/page itself, or from the Posts/Pages overview screen.

The User Role Editor and Capability Manager Enhanced plugins will allow you to edit the capabilities of the default user roles and any roles created by a theme or plugin:

https://www.ads-software.com/plugins/user-role-editor/

https://www.ads-software.com/plugins/capability-manager-enhanced/

And if you want to assign the same post/post to multiple people, that gets a bit complicated, as, by default, a WordPress post/page belongs to a single user. I don’t know if the Co-Author Plus plugin or something similar will be helpful here.

Good luck!