Every post should be accessible through a permalink. A user may or may not be a part of a particular group to access the permalink. Access to the post would be restricted based on the group restriction settings (which currently, in the absence of any secret groups, means that any user would be able to access any post - if they have the permalink). These permalinks will be used in the notifications (email or push or sms) that will help direct users to the relevant message.
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