Apple has posted many suggestions for managing storage space on your Mac at Free up storage space on your Mac - Apple Support
Your problem is that you want to sync, and have only the capacity to sync, a small selection of files on iCloud when the system is designed to unify your content across all devices, even if you have only one device.
Having content on a place where you don't want to access them regularly rather suggests that they are of secondary importance and you might want to consider putting them on a local external drive - and also have two backup copies.
To answer your question about syncing specific folders with iCloud, your Mac can sync three places with iCloud: iCloud Drive, Desktop, and Documents.
Syncing iCloud Drive can be turned on or off. If you have it on you then can choose to sync with Desktop and Documents folder. These two are paired, so you can have both or neither.
To switch the control for these two options go to System Preferences > Apple ID > iCloud Drive
If you put a tick in the iCloud Drive box you can also choose the further option of Desktop & Document Folders. This switch is accessed by using the Options button then Desktop & Document Folders.