Everyone that is going to fill out the secure survey must have a Field Worker, Creator, or GIS Professional license. The viewer role will not work unless the survey is public, at least that was the case the last time I tried using ArcGIS Enterprise 10.8.
I created an ArcGIS Idea asking Esri to treat a survey or feature service shared with the organization similar to how it is with a public survey or feature service, except the public cannot access it. Unfortunately, the idea never gained any traction.
https://community.esri.com/t5/arcgis-enterprise-ideas/add-functionality-similar-to-public-editing-at...
"Not all those who wander are lost" ~ Tolkien