Query All Pages based on a "Role"

I am using latest version of Sitefinity.

In our system, we have 3 types of "User Roles". Is it possible using API to get all the pages (including child pages) in the system at once to build the main navigation based on Permission that is set for the pages?

For example, a page might have none, 1, 2 or 3 Roles assigned to it. Depending on the logged in user's Role, the page should or should not show in the main navigation.

(I did come across articles where it grabs each page and checks the permission on that. But I am looking for something in bulk and NOT running through each page)

Thanks in advance.