Nothing could be easier, check / uncheck to display or hide the admin bar for each basic WordPress role.
Major features in Hidden By Roles the Admin Bar include:
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Facilitates the selection of roles to hide or not the admin bar in Dashboard.
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Plugin translated into the following languages: Deutsche, Català, English, Français, Nihonjin, Português, Pǔtōnghuà.
PS: You can get the premium version managing custom roles on the site by following this address: https://kheloshop.com/boutique/wordpress/plugins/.