Found the problem!
Apparently that my question wasn't accurate, just like the error I got from S3 - not indicative.
What I was actually searching for is how to download a file from S3 url using Rest Template.
So I had to add the following configuration and used this code to solve it:
RestTemplate restTemplate = new RestTemplate();
restTemplate.getMessageConverters().add(new ByteArrayHttpMessageConverter());
HttpHeaders headers = new HttpHeaders();
String url = URLDecoder.decode(path, "UTF-8");
ResponseEntity<byte[]> response = restTemplate.exchange(url, HttpMethod.GET, new HttpEntity<>(headers), byte[].class);