How to authenticate the big-size file download from S3?

I am researching on the option to authenticate the big size (100MB at least) file download from S3. The very big challenge is the premise that I don't want to use Pre-signed URL for security reasons. I researched loads of posts about authentication and that all directs features to API Gateway and Lambda function, but I notice the payload/request limit for API Gateway and Lambda to be 10 MB and 6 MB. I know I certainly can truncate the file into the pieces within the limit. But I'd like to also seeking for options. Ideally what I was looking for is that the URL that I use to download the file is pretty much like a S3 Object URL but the only difference is that I provided a token (JWT or something) as a query string or some other format then the Lambda/Other services authorize the access by verifying the token using Cognito and that's it. The file download should be the same as an original download and I don't have to face the challenge on file size limit. Would that be possible? Is there any similar solution available?