This can be done in the web Browser version.
You can share a Draft-saved Manual by providing the URL displayed on the Preview screen to the other party.
Viewing requires editing privileges for the Folder where the Manual is saved as a Draft.
Related:
Check the manual preview (Web Browser)
https://teachme.jp/8/manuals/34459785
Change and check the folder privileges of users or teams (Web Browser)
https://teachme.jp/8/manuals/23074527