Access to Manage Customer - not through setup and maintenance

Summary

Access to Manage Customer - not through setup and maintenance

Content

We are implementing  Order Management standalone without AR or any other Financial modules. How can OM user access the manage customers?

While Manage Customers is available under receivables module , as we are not using Financials, will giving AR role to the user raise licensing concerns ?

Also we want to avoid giving user access to manage customers through setup and maintenance (using receivables segregated role ) as it opens up other configuration tasks . 

Please provide your inputs