Below are a list of System Preference pane URL Schemes and paths that can be accessed with scripting to assist users with enabling macOS security settings without having to walk them through launching System Preferences, finding panes, and scrolling to settings. Not all panes have an accessible anchor and some are OS specific.

To find the Pane ID of a specific pane, open the System Preferences app and select the desired Preference Pane. With the pane selected, open the ScriptEditor.app and run the following script to copy the current Pane ID to your clipboard:

tell application "System Preferences"
	set CurrentPane to the id of the current pane
	set the clipboard to CurrentPane
end tell

To open one of these with a terminal command use the following syntax (replace <PaneID> with the desired pane ID):

open "x-apple.systempreferences:<PaneID>"

You can also access the main preference panes using the file path to each pane from /System/Library/PreferencePanes/ using the open command with slightly different sytax (replace /Path/To/Pane with your desired pane):

open -b com.apple.systempreferences /Path/To/Pane

/System/Library/PreferencePanes/AppleIDPrefPane.prefPane

/System/Library/PreferencePanes/FamilySharingPrefPane.prefPane

/System/Library/PreferencePanes/Appearance.prefPane

/System/Library/PreferencePanes/DesktopScreenEffectsPref.prefPane

/System/Library/PreferencePanes/Dock.prefPane

/System/Library/PreferencePanes/Expose.prefPane

com.apple.preference.speech
/System/Library/PreferencePanes/Speech.prefPane

/System/Library/PreferencePanes/Spotlight.prefPane

/System/Library/PreferencePanes/Localization.prefPane

com.apple.preference.notifications
open -b com.apple.systempreferences /System/Library/PreferencePanes/Notifications.prefPane

/System/Library/PreferencePanes/InternetAccounts.prefPane

/System/Library/PreferencePanes/Accounts.prefPane

com.apple.preference.universalaccess
/System/Library/PreferencePanes/UniversalAccessPref.prefPane

Display com.apple.preference.universalaccess?Seeing_Display

Zoom com.apple.preference.universalaccess?Seeing_Zoom

VoiceOver com.apple.preference.universalaccess?Seeing_VoiceOver

Descriptions com.apple.preference.universalaccess?Media_Descriptions

Captions com.apple.preference.universalaccess?Captioning

Audio com.apple.preference.universalaccess?Hearing

Keyboard com.apple.preference.universalaccess?Keyboard

Mouse & Trackpad com.apple.preference.universalaccess?Mouse

Switch Control com.apple.preference.universalaccess?Switch

Dictation com.apple.preference.universalaccess?SpeakableItems

com.apple.preference.screentime
/System/Library/PreferencePanes/ScreenTime.prefPane

/System/Library/PreferencePanes/Extensions.prefPane

Tip: The "Advanced" anchor essentially just triggers a panel unlock wherever the user may be at in the Security and Privacy pane. So, if you want them to enable a Privacy setting, open the desired Privacy anchor first (e.g. ?Privacy_Contacts) and then open the Advanced anchor (?Advanced) to prompt the user password to unlock the preference pane.

com.apple.preference.security
/System/Library/PreferencePanes/Security.prefPane

General com.apple.preference.security?General

Advanced com.apple.preference.security?Advanced

FileVault com.apple.preference.security?FDE

Firewall com.apple.preference.security?Firewall

Privacy Main com.apple.preference.security?Privacy

Location Services com.apple.preference.security?Privacy_LocationServices

Contacts com.apple.preference.security?Privacy_Contacts

Calendars com.apple.preference.security?Privacy_Calendars

Reminders com.apple.preference.security?Privacy_Reminders

Photos com.apple.preference.security?Privacy_Photos

Camera com.apple.preference.security?Privacy_Camera

Microphone com.apple.preference.security?Privacy_Microphone

Speech Recognition com.apple.preference.security?Privacy_SpeechRecognition

Accessibility com.apple.preference.security?Privacy_Accessibility

Input Monitoring Not Available

Full Disk Access com.apple.preference.security?Privacy_AllFiles

Files and Folders Not Available

Screen Recording Not Available

Automation com.apple.preference.security?Privacy_Automation

Analytics and Improvements com.apple.preference.security?Privacy_Diagnostics

Advertising com.apple.preference.security?Privacy_Advertising

/System/Library/PreferencePanes/SoftwareUpdate.prefPane

/System/Library/PreferencePanes/Network.prefPane

/System/Library/PreferencePanes/Bluetooth.prefPane

/System/Library/PreferencePanes/Sound.prefPane

/System/Library/PreferencePanes/PrintAndFax.prefPane
/System/Library/PreferencePanes/PrintAndScan.prefPane

/System/Library/PreferencePanes/Keyboard.prefPane Dictation com.apple.preference.speech?Dictation

/System/Library/PreferencePanes/Trackpad.prefPane

/System/Library/PreferencePanes/Mouse.prefPane

/System/Library/PreferencePanes/Displays.prefPane

/System/Library/PreferencePanes/EnergySaver.prefPane

/System/Library/PreferencePanes/DateAndTime.prefPane

com.apple.preferences.sharing
/System/Library/PreferencePanes/SharingPref.prefPane

Screen Sharing com.apple.preferences.sharing?Services_ScreenSharing

File Sharing com.apple.preferences.sharing?Services_PersonalFileSharing

Printer Sharing com.apple.preferences.sharing?Services_PrinterSharing

Remote Login com.apple.preferences.sharing?Services_RemoteLogin

Remote Management com.apple.preferences.sharing?Services_ARDService

Remote Apple Events com.apple.preferences.sharing?Services_RemoteAppleEvent

Internet Sharing com.apple.preferences.sharing?Internet

Bluetooth Sharing com.apple.preferences.sharing?Services_BluetoothSharing

/System/Library/PreferencePanes/TimeMachine.prefPane

/System/Library/PreferencePanes/StartupDisk.prefPane

/System/Library/PreferencePanes/Profiles.prefPane