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Pre-signed URLs may be the tool you’re looking for. Essentially, you would mark your Spaces bucket as private, and using the S3 library, you can generate special links to the PDFs which include credentials. The credentials associated with the link have permissions access only the specified file, and can be configured to expire.
You can see more details in the “Generate A Pre-Signed URL to Download A Private File” subsection of the Spaces S3-SDK-Examples page of the Spaces documentation.