[support] Making menu items based on categories visible by role

I have a CCK type the uses Filefield plugin that is used to upload documents to the site. I have created a taxonomy category and assigned it to the Document type. Certain roles can access each category. What I would like to do is have a Documents top level menu, and then one submenu item for each category. Each person that logs in would only have the menu items visible that are allowed for their role.

How can I do this? Is it possible to do it with one view with an argument, or do I need to create a separate view for each category and limit access from within the view? Or is there another way to do it?

Thanks.

Steve