I think you are mixing several concepts together in a way that doesn’t work exactly the way that you think it does.
canvas apps can be shared with ad security groups and ad security groups can also be used to provision security access to cds, but these two concepts are not directly related.
1. using ad security groups to manage cds access: there is a type of team called an azure ad security group team. If you assign users to the group linked to the team and they have a license for power apps, they will inherit the roles associated with the team. https://docs.microsoft.com/en-us/power-platform/admin/manage-teams
some things to note:
1a. This works if the role assigned to the team has the setting on the first tab of the security role set to basic plus team security. Otherwise the role will not be a true inherited role and cannot grant permission you log in to the system.
1b. This doesn’t assign roles to a user—this is an alternative to assigning roles to users.
1c. The user won’t appear as an enabler user in cds or show as a team member until they log in for the first time.
1d. Users need a full power apps license per user or dynamics. This won’t work for office only licensed users
2. if you share the app with an ad group, the users in the group get access to the app if they have a role either directly assigned to them or they are part of an aad security group team.
note there are some rough edges to the aad security group teams, and if they don’t work you are best just assigning roles to users