Using Kendra Experience and S3 results in AccessDenied when trying to open the indexed document

I am working on a PoC with Kendra where I have uploaded documents to S3 and use that as the Data Source for my Kendra index. I have created a Kendra Experience to test out the logic, and on the first page I am able to run a query and find that it returns the relevant results. However, when I click on any of the documents and open them up, I get an AccessDenied error message.

In reading through the Kendra docs, I believe I am encountering the issue titled I am unable to use search index links to open my Amazon S3 objects found in the document link here: https://docs.aws.amazon.com/kendra/latest/dg/troubleshooting-data-sources.html

In that section it says I can sign my index query results with the source URL before returning the result to the search page, which sounds like it might work for my scenario. It then says, For a step-by-step walkthrough of this process, see Sharing objects using presigned URLs, but that link just provides general instructions for using presigned URLs, and doesn't seem to address this scenario. The other options include incorporating a CDN or an API Gateway, which might work as well, but this is a simple PoC, and I am just trying to verify my results and would prefer to avoid adding these additional components.
Has anyone come across a guide/documentation on how to use the presigned URLs with Kendra, or know of a simpler approach to this? I would be surprised if Kendra can use S3 as a data source, but wouldn't have the ability to show the document, so I feel like I am missing something in this process.