Configure object definitions allows you to see/edit/create new objects (fancy word for tables).
That also means you can define which columns, if there are associations, if logic should be applied to it etc.
Manage data is for a very big portion of the objects in Configure Object Definition the place where you can create/edit/remove data for these objects (also dependent on your permissions).
So for instance in configure object definitions you can add fields for department and in manage data you can add a department (+ the content for those new fields).
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