If you are in Lightning, There is a way you can set the visibility of the Visualforce page based on some condition.
You can use Visualforce standard Component in Lightning App Builder and select the visualforce page to display. After that, You can set the visibility on some criteria.
Component visibility properties appear when you select a component on a record, app, or Home page in the Lightning App Builder. This behavior applies to standard components, custom components, and components from AppExchange. No need to do anything to your custom components. It’s all handled by the Lightning App Builder.
You must enable "Available for Lightning Experience, Lightning Communities, and the mobile app" for a Visualforce page to make it available in the Lightning App Builder.
Refer the below picture to add Visualforce page on Your Lightning Page:-
and to set properties and filters:-
Read more here:- Dynamic Lightning Pages