Hi @Anonymous ,
Do you want to open the sharepoint custom form by using url?
I'm afraid it's not supported to only open one sharepoint custom form by using url.
Please notice that:
sharepoint custom form is only a sharepoint form, not a real powerapps app.
So actually this sharepoint custom form does not has app link like powerapps app.
If you want to view sharepoint custom form's link, you could do this:
1)open this sharepoint custom form in powerapps
2)File->save->publish->see all versions

3)->details->web link
Then if click that web link, you will navigate to the sharepoint list that this custom form belongs to, not directly open this sharepoint custom form.
To open this custom form, you also need to operate in that sharepoint list.

To make others have permission to this sharepoint list, you need to set permission of this sharepoint list.

People who have permission to this shaepoint list, will have permission to open this sharepoint custom form.
Best regards,