I can give a specific answer to that for “foot” access - here (although that’s been heavily remapped since I used “foot=designated” here). There is a legal “access on foot” right of way that joins the road from the south and the north, but it’s actually a dangerous road to cross. There were blue signs telling pedestrians from the south to turn right, walk along the cycleway to the roundabut cross at the crossing there, and then walk back the other side. I tagged those sections as “foot=designated” as opposed to “foot=yes”. Since then another mapper has added “foot=designated; bicycle=designated” to the entire length of https://www.openstreetmap.org/way/894921545 which in a sense isn’t wrong (the cycleway was created for use by pedestrians and cyclists), but it does lose the sense of “pedestrians are specifically requested to do X” that was there before.
Other than that, @Richard is correct (“never”) for England and Wales, although Scotland has different rules and I’d defer to a local on how best to tag things there - I’m unsure how the Core Paths network handles “intended for mode X” in addition to the “Core Path” designation and the basic legal right that I linked to in the other post.
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