It is correct that you cannot access private app folders, meaning stuff like /data/data, /Android/data, /Android/obb. But this is nothing new and you basically need a rooted device to access them. You can however access anything on external storage, which is typically where apps would store data you would want to sync and which would cover by far most use cases from users. At the moment, users are mostly complaining that only media files are synced, but not documents. SAF would solve this.
> I'm sure they would happily allow you to select the folders you want to give permissions to, but I think that's not possible anymore.
That is absolutely possible:
https://developer.android.com/training/data-storage/shared/d...