not inventing the wheel I'd start from psql -E:

t=# \z
********* QUERY **********
SELECT n.nspname as "Schema",
  c.relname as "Name",
  CASE c.relkind WHEN 'r' THEN 'table' WHEN 'v' THEN 'view' WHEN 'm' THEN 'materialized view' WHEN 'S' THEN 'sequence' WHEN 'f' THEN 'foreign table' END as "Type",
  pg_catalog.array_to_string(c.relacl, E'\n') AS "Access privileges",
  pg_catalog.array_to_string(ARRAY(
    SELECT attname || E':\n  ' || pg_catalog.array_to_string(attacl, E'\n  ')
    FROM pg_catalog.pg_attribute a
    WHERE attrelid = c.oid AND NOT attisdropped AND attacl IS NOT NULL
  ), E'\n') AS "Column privileges",
  pg_catalog.array_to_string(ARRAY(
    SELECT polname
    || CASE WHEN polcmd != '*' THEN
           E' (' || polcmd || E'):'
       ELSE E':'
       END
    || CASE WHEN polqual IS NOT NULL THEN
           E'\n  (u): ' || pg_catalog.pg_get_expr(polqual, polrelid)
       ELSE E''
       END
    || CASE WHEN polwithcheck IS NOT NULL THEN
           E'\n  (c): ' || pg_catalog.pg_get_expr(polwithcheck, polrelid)
       ELSE E''
       END    || CASE WHEN polroles <> '{0}' THEN
           E'\n  to: ' || pg_catalog.array_to_string(
               ARRAY(
                   SELECT rolname
                   FROM pg_catalog.pg_roles
                   WHERE oid = ANY (polroles)
                   ORDER BY 1
               ), E', ')
       ELSE E''
       END
    FROM pg_catalog.pg_policy pol
    WHERE polrelid = c.oid), E'\n')
    AS "Policies"
FROM pg_catalog.pg_class c
     LEFT JOIN pg_catalog.pg_namespace n ON n.oid = c.relnamespace
WHERE c.relkind IN ('r', 'v', 'm', 'S', 'f')
  AND n.nspname !~ '^pg_' AND pg_catalog.pg_table_is_visible(c.oid)
ORDER BY 1, 2;
**************************