In reality this varies from case to case and from country to country. The important part is that the access rules are correct, and explicitly tagged, where needed. The general rule, i.e. to use the higher-level tagging takes largely care of this, as normally the higher-level road class has more access restrictions, at least for pedestrians, cyclists, small motorcycles, horses, .... On the other hand I have met situations where (US) freeway exits ended in minor roads where some bigger vehicles surely would have problems.
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