I'm afraid that currently there's no built-in feature for you to accomplish that. Some custom code would be necessary.
The fields groups are added to the wp_posts table, in the Toolset listing page when you're editing them you can either set them to 'active' or 'not active'. Inside the database, 'active' means the post has a status of 'published', while 'not active' groups have a status of 'draft'.
Then, you can test the user's role and set the post status to 'draft', that will cause that field group to appear as disabled in the Toolset list. After that, you'd be able to manually set that field group to active on the Toolset custom field groups listing page.
Please have in mind that giving support to custom code is out of the scope of this forum. The hints I shared could point you in the right direction, but we can't create, debug or modify custom code for you and it's your responsibility to maintain it.
If implementation becomes a roadblock, you might want to explore the list of Toolset Contractors for assistance: https://toolset.com/contractors/