For your case you can redirect it to an S3 preassigned URL of the object, like:
$cmd = $s3Client->getCommand('GetObject', [
'Bucket' => 'my-bucket',
'Key' => 'testKey'
]);
$request = $s3Client->createPresignedRequest($cmd, '+20 minutes');
// Get the actual presigned-url
$presignedUrl = (string) $request->getUri();
header('Location: ' . $presignedUrl);
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