If it is currently locked for your non-admins, then a Configuration Profile is being pushed out for Security & Privacy to those users.

It is currently locked, that pane is always locked. I need it to be auto unlocked for non-admin users. Is there any scripts for that or directions on how to set that up?

If you just need to approve/allow the user to approve permissions, then a profile is what you need with PPPC payloads. You shouldn't need to have the pane unlocked.

You can use https://github.com/jamf/PPPC-Utility grab the required info for each app.

Apologies, I misunderstood your question. As browns said below, you can create the PPPC and push them out to users. TCCs will need to the User approved when they appear.

@lmathews, unfortunately that Sys Prefs pane cannot be unlocked for Standard Users like other panes such as Network or Printers & Scanners can be.

Have a read of this JN post, some options do not require the pane to be unlocked.