You can set an user to submit audits even if they do not have auditing rights in the organization. This requires someone with auditing rights to assign the audits. After submitting the audit, the assignee will only have access to the audits submitted by them.
With no audit rights, the user can only see observations on their home page.
After a scheduled audit is assigned for them it will appear on their home page.
After submitting the audit they will be able to see the Audits-page.
They will only be able to see their own submitted audits.