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I was looking at the Sagittarium Custodes (aka Ranged Heavy Bolter Custodes), and their rules come from Imperial Armour not Legends.

Does this mean I can play with them without my opponent's consent? Or do I still need permission, like Legends rules?

Custodes units are legal without permission, yeah. at least for the moment

You don't need permission for legends, you only need to not be at a tournament that forbids legends.
So, either way you're good to go.

Thanks!