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Default setting is frame-types=admit-all … so if it’s not changed explicitly according to needs, it’ll remain that way.
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Do as you see fit. IMO access to management VLAN should be as restricted as possible but also depends on particular use case.
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Bridge is (also) interface which allows ROS to communicate with nerworks passing bridge the switch-like entity. To enable it, bridge port has to be made member of appropriate VLAN(s). See this explanation of different bridge personalities.
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If you want to use CRS317 as router, then you definitely want to go L3HW way. Without L3HW this device has shitty routing performance.