Hello, I can see a mod answered the question in the following question:

https://www.digitalocean.com/community/questions/how-can-i-access-private-files-on-spaces-using-get

To be more specific, here is the relevant reply posted from user asb back in the day:

Spaces was designed to be compatible with the S3 API in order to allow users to leverage existing tools. Accessing private files requires generating a signature for authentication. As this is quite complicated, you should generally use an existing library in your programing language of choice.

Check out this question for examples in a number of languages:

How to use DigitalOcean Spaces with the AWS S3 SDKs?
Let us know more about how you are trying to access the files, and we can provide a more specific answer.