I have seen that this is already a commonly requested feature, with more information here:
community.zammad.org/t/knowledge-base-rights-management/3858/9
And on github here: github.com/zammad/zammad/issues/2603 – which appears to be closed as ‘implemented’. However, upon checking the ‘category’ permissions in Knowledgebase, only the ‘Admin’ or ‘Agent’ options are available, not other ‘roles’:
Image: i.postimg.cc/T3rkJ3CZ/Screen-Region-2024-03-30-at-11-03-14.png
EDIT: This appears to be possible as of March 2024. The User interface is confusing/misleading, which was fixed on 20th March, 2024. 
More info: https://github.com/zammad/zammad/issues/4957