Install squidGuard. Create 2 Target Categories, each with a Domain List containing the specific list of sites you want your groups to access. Create separate ACLs for your 2 different groups of users. Associate each ACL with the respective target category. Set the Common ACL and your 2 custom ACL's default access to Deny, and make sure your target categories are listed above the Deny rule. Don't forget that whenever you make a change to squidGuard, you must go back to the General Settings page and click Save then Apply or it won't work. I just typed this of the top of my head so I may have forgotten a step or confused you with the order of operations.
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