Reference:
https://docs.microsoft.com/en-us/azure/active-directory/privileged-identity-management/pim-how-to-start-security-review To reduce the risk associated with stale role assignments, you should regularly review access. You can use Azure AD Privileged Identity Management (PIM) to create access reviews for privileged Azure AD roles. You can also configure recurring access reviews that occur automatically.
Steps:
1. Sign in to Azure portal with a user that is a member of the Privileged role administrator role.
2. Open Azure AD Privileged Identity Management.
3. Select Azure AD roles.
4. Under Manage, select Access reviews, and then select New.

https://docs.microsoft.com/en-us/azure/active-directory/privileged-identity-management/pim-how-to-start-security-review