I've written a script using the CoreService to traverse every folder and structure group across the whole BluePrint.
See https://github.com/TridionCommunity/tridion-ba-toolkit.
This includes the expected settings in the system to get the same authorization setup (or perhaps Security Access Profile, if you will).
However, it doesn't gather the information from a user and Group perspective.
For that, you could either use the outputted .csv file to check manually or adapt the approach to show the same data from a Group, rather than a hierarchical, perspective.
Note that it's been a while since I wrote this and there may be a few shortcuts (hacks) that could have been written in a much cleaner way.