Getting asset download links using Roblox API

I want to be able to get the direct link to where Roblox is storing assets - in my case specifically audio - which I know is possible since there are browser plugins that do this. I’m pretty sure you do it through the Roblox Asset Delivery API, but testing it always says that I am “not authorized to access Asset.” regardless of if I uploaded the audio or if it is onsale.

Is this even the right way to do what I want? If so, how do you properly use the API since I’m clearly doing something wrong.!/AssetFetch/get_v1_asset