How to use pre-signed URLs for a private S3 bucket with Cloudflare?

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How can I make my S3 files private to public access and only make them accessible by using a pre-signed URL generated by the server, whilst using Cloudflare as a CDN? I made this work with Cloudfront but I'm not sure how to do it on Cloudflare.

The idea is to allow the user to only access the file by using a pre-signed URL, and if he tries to access the file directly it would need to say "Access denied".

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