Hello InsertUser,
I split way/689259594 at node/6631899712 to create a section that is in between the two lanes of Millennium Highway and added foot=no tags to the inner section of it in order to designate a vehicle only section of the road network for safe pedestrian routing. (Same with way/689258111). I should have merged the two small segments into one. I will make that edit. Thanks for pointing that out and have a good day.

Thank you for updating me on the access for this gated entrance to Taman Bayu Puteri. Since you have knowledge of the area I will defer to your revision of access=no. Have a nice day!