This documentation is not using the current rendering mechanism and will be deleted by December 31st, 2020. The extension maintainer should switch to the new system. Details on how to use the rendering mechanism can be found here.
Since version 2 of Yoast SEO for TYPO3, you can set permissions by setting the permissions to fields and backend modules in the backend group permissions. All fields are exclude fields and all modules can be turned on or of separately. You don’t need specific configuration anymore.