For a connected app to be visible on the App Launcher, it must have a Start URL defined on the Manage connected app page. The user must be authorized to see it, and it must be marked as "Visible in App Launcher" on the "App Menu" setup page.
If the OAuth policy is set to "All users may self-authorize", then the connected app will be visible on the app launcher and cannot be controlled by a profile or permission set. To control visibility, change the OAuth policy to "Admin-approved users are pre-authorized" and specify which profiles and permission sets are authorized to see it. You can alternatively remove the app's start URL, or hide it from the App Launcher on the "App Menu" setup page.
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