Taxonomy Guidance

Ok I am not new to Drupal but I am new to taxonomy. I watched a few videos on taxonomy but not really finding a solution to what I am trying to do. The overall functionality is I want a editor to go into the content type select a check box called "Cross-sell" which then lists all all the other nodes with that tag/taxonomy. I tried to do this setting up a vocabulary list and then with a taxonomy menu in the sidebar but every page was getting the whole list applied to the page when I only wanted that specific tag/taxonomy group to show up.

Taxonomy terms menu based on node permissions

I have a hierarchical taxonomy vocabulary that looks like that:

Term 1
- Subterm 1
- Subterm 2
- Subterm 3
Term 2
- Subterm 4
- Subterm 5
Term 3
Term 4

What I would like to achieve is to show 2 menu blocks representing each hierarchy but limit the menu items' visibility based on node permissions. I am using ACL/Content Access to grant users a per-node access as well as views to generate the menu blocks.

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