In order to manage Azure AD, we use Azure Active Directory option in https://portal.azure.com. By default, any user under Azure AD can access this option event they do not have a Directory role. In my demo setup, I have a user called "Emily Braun". She doesn't have any Directory role assigned. 

Then I log in to Azure portal https://portal.azure.com as the user and then go to Azure Active Directory option. It didn't block me accessing it. 

I can go to All users and see user account details. 

I even can see the Groups memberships details. 

Also, can view application assignments. 

As an end user I also can see the Azure AD Connect details.