There's no Storyline setting for switching the Menu between free and restricted navigation.
However, you can hide the Menu for designated slides by deselecting it from the Player features in the Slide Properties.
And you can delete slides from the Menu, which prevents the user from jumping to those slides.
You could use one or both of those options to ensure users have to go through the restricted scene in order.
Or consider the option Ginger presents in this episode of Quick Tips: https://training.articulate.com/webinars/quick-tips-and-tricks-episode-91
