Any form can be shared using a Public Link. This method does not require the form to be published to a WordPress post or page. When someone clicks a Public Link they will be able to access the form directly.
To generate a Public Link for any form, open that form and click the link icon at the top of any screen of the form builder:
In the window that opens, toggle on Allow a Public Link. The shareable link will be present in the Link to Your Form setting that then opens: