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You should be able to make yourself an admin enclave with access to all topics and services and pass that enclave to your CLI tools. Example of a policy accessing all topics/services https://github.com/ros-swg/turtlebot3_demo/blob/2719e0f579029944a63fa6368486d9d6d2f2d09f/policies/tb3_gazebo_policy.xml#L44-L55
Edit:
The problem is not the enclave but passing it to CLI, as —ros-args does not work with these cli tools
Oh I see, there use to be an environment variable allowing to override the enclave used ROS_SECURITY_ENCLAVE_OVERRIDE: https://github.com/ros2/design/blob/12f61b14698b80170824c699c70608d9ded3a6d7/articles/180_ros2_dds_security.md#manual-specification
Could not convert above comments to answer so I reposted them as an answer :/
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