You can do this in the Web Browser version.
By sharing the URL displayed on the Preview screen with others, you can share a manual that is saved as a draft.
Viewing requires edit permissions for the folder in which 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