How do I create a custom role to create and manage customers if I don't have AR licenses?

Summary:

How do I create a custom role to create and manage customers if I don't have AR licenses?

Content (please ensure you mask any confidential information):

Our client has implemented the Inventory Management and Maintenance Management modules to monitor their assets. When the asset arrives at a customer's location, this information is reported within the "Asset Information Management" module. To do this, customers must be created in the "Manage Customer" task, but with SCM roles, we can only access this task from Setup and Maintenance.

Is it possible to create a custom role that has access to AR and can only create and manage customers without consuming module licenses?