This might not be possible, depending what you are expecting.
First, it's worth mentioning that folders do not actually exist in Amazon S3.
For example, you could run this command to copy a file to S3:
aws s3 cp foo.txt s3://my-bucket/data/2020/03/23/
This would put the file in the data/2020/03/23/
path and those four directories would "appear" in the console, but they don't actually exist. Rather, the Key (filename) of the object contains the full path.
If you were then to delete the object:
aws s3 rm s3://my-bucket/data/2020/03/23/foo.txt
then the four directories would "disappear" (because they didn't exist anyway).
It is possible to cheat by clicking "Create Folder" in the S3 management console. This will create a zero-length object with the name of the folder (actually, with the name of the full path). This causes the directory to appear in the bucket listing, but that is purely because an object exists in that path.
Within S3, directories are referred to as CommonPrefixes
and commands can be used that reference a prefix, rather than referencing a directory.
So, you could list the bucket, providing the path as a prefix. This would then return a list of any objects that are within that path.
However, the best answer is: Just pretend that it exists and everything will work fine.