Non-Admins can view civicrm/civirules/form/rulesview
I can't access the original issue on GitHub anymore that introduced the requirement of the permission
administer civicrm but I assume that a few items were missed:
https://lab.civicrm.org/extensions/civirules/-/blob/master/xml/Menu/civirules.xml#L511-516 should be the reason that the view for all rules can be seen with an unpriviledged user.
I will try to provide a MR.