Cisco SMB Router RV220w's Intervlan Routing Function

Can't seem to find the info.... though I do find lot of definition regarding the intervlan function... But I am looking for information of application.

Let's say I have 5 vlan's setup, each with a different subnet.

Vlan 1 - 192.168.1.x/24 Manage
Vlan 2 - 192.168.2.x/24 Staff
Vlan 3 - 192.168.3.x/24 Student
Vlan 4 - 192.168.4.x/24 General
Vlan 5 - 192.168.5.x/24 Audio/Video

If i enable Intervlan on say VLAN5, does that mean everything is VLan5 is accessible by other vlans? Or is it that everything can be access by anything IN vlan5?

What does it mean to have a VLAN "Intervlan Routing" Enabled?

Does it mean that If i want to share a printer between two VLANs, I should set up a vlan just for the printer itself, and enable intervlan routing on that printer vlan?

What if i only want the STaff and management to be able to access that printer?

This is on the Cisco RV220W router. on the 1.0.3.5 firmware

Thanks