Making going the same road most apps go (ie both menus and keyboard shortcuts available) should be the way to go.
I do like the clean uncluttered (as in absent) menus we have currently, but I do think menus would improve usability. Maybee having them appear when holding a key, the same way the spawning function works, for instance...
1.hold a key to open a general menu. (maybe one around your mouse, or more traditionally on the side, up to taste)
2.click (or just hover!) on a button to open whatever submenu you want.
3.pick an option OR dismiss said submenu by releasing the key.
With that said, most camera controls would be better menu-less in the style you suggested (Maybe some like camera switching and seeing through bot camera could be done on a menu, but thats it)
At least that's what I think.
If anyone else has an opinion on this feel free to share.
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EDIT: something strange I noticed in the wiki:
"LeftAlt + LMB on a hex, to enter the passcode"
IDK if this is just a hoax or if there is really a passcode feature for the permissions. If this really does exists, how do you set the passcode? By editing the map files?