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How to give some editor users access to certain term sets in the front-end so they can add/remove them? The route to manage this is by default: site settings > Term Store Management Tool, but we don't want to give users access to this part of the site.

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You can set property of term set as "Open" which will let anyone add a new term to an open term set.

So user not necessarily need to go to the path mentioned above. In list/library while selection of term user can provide new terms as well. (same like allow fill in choices for choice field)

refer MSDN

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