If you have set of group VMs and particular group can access each set VMs, you should grant access on vSphere Client or vSphere Web Client.
SSO is slowly sometimes, you could use following CLI to do it more efficient.
New-VIPermission -Entity "Folder Name" -Principal "Domaingroup name" -Role "Role name"
You could do it faster for regular folder name or group name by excel and notepad:
New-VIPermission -Entity "
" -Principal "
" -Role "Role name"
Guess how to do it.