No apostrophe.
It is just a plural.
Can you replace users with them or their?
Authorization rights are required for them to access these risk system applications.
Authorization rights are required for users to access these risk system applications.
It has to be them, so it is a plural, and thus no apostrophe.
Their authorisation has expired.
The users' authorisation has expired.
His authorisation has expired.
The user's authorisation has expired