"Kami tak boleh berbicara."
Translation:We are not allowed to speak.
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I agree with @TJR696322 's explanation. Maybe the following sentence might help you understand better.
"Boleh saya minta air?" = "May I have water?" (direct translation: May I ask for water?)
This is a typical phrase you can use in a fancy restaurant. "Boleh" is used when you ask someone for something.
The same nuance can be applied to "Kami tak boleh berbicara." This sentence suggests that "Kami" (we) asked someone whether we can speak or be quiet, and the guy didn't allow us to speak. Therefore, "tak boleh" is "not allowed". On the other hand, "we cannot speak" does not mean that someone else made us stop speaking.
i thought "boleh" also means "can"/"may" https://dictionary.cambridge.org/dictionary/indonesian-english/boleh
You can find all rules about Indonesian in Tata bahasa. But that is not one book that you can buy somewhere. It is in my study books at every chapter. You can use an Indonesian dictionary (kamus). But than the Indonesian version for Indonesians. Like a Longman in English. "Kamus besar bahasa Indonesia".