How to show pages in the navigation only to certain roles and hide from others?

I would like to figure out if there is a plugin or a code that would give me the ability to hide a page in the Navigation bar from certain member roles (like Subscribers or Guests) and then let it be visible for other member roles (like Editors, Admins, etc). Most plugins offer to prompt users not logged in to log in, or to prompt users who aren't the right role that they don't have permission. However, I would like to completely hide the page from the roles I don't want to see it, but still allow it to be seen by the other roles in the main Navigation.

If there is any way to figure this out, I would be very grateful. Maybe I'm missing the simple solution here! Thank you for any help.