What security privilege is required for employees to self-assign a journey?

Summary:

We are doing soak testing for 22D and looking at the new security features. Even though our employee role has been given access to assign a journey to themselves, the employee cannot see the Explore tab.

Content (required):

What security is needed for a custom Employee role to view the Explore Tab in Journeys? We have added security so that a specific checklist template allows the employee to self-assign a journey; however they can't see the Explore Tab.

Version (include the version you are using, if applicable):

22D

Code Snippet (add any code snippets that support your topic, if applicable):