One of the updates included into the recent version 4.59.2:
– Option “Force custom post types to use their own capabilities” replaces default capabilities for the custom taxonomies also. It takes the slug of the 1st post type associated with such taxonomy (e.g. ‘video’) and builds own capabilities this way: manage_terms->manage_video_terms, edit_terms->edit_video_terms, delete_terms->delete_video_terms, assign_terms->assign_video_terms. URE automatically adds such capabilities to the ‘administrator’ role. You have to grant these new capabilities to other roles manually.
Filter custom capabilities by word ‘terms’ via ‘Quick Search’ and grant needed capabilities to needed role.