cisco Router access control and privilige

It depends on the number of devices you have, their configuration, how many people need access, etc...
I've seen even reasonably large networks use local passwords on the routers. This is especially true for a WAN with a large number of edge sites. Typically you don't need to modify the edge routers very often.

Otherwise, you'd want to check with your router vendor(s) to see what they support. In large environments, there are apps designed specifically to manage all of this, you don't touch the router at all, only the management app.

anyrecommendation for a specific software as a centralized authentication,logging, and command control with privilige

we are an nsp ( network services provider) with hundreds of routers and switches and need centrlzed management as authentications and control privillige based on access level to control missing with router configuration