Message token

Create a token for the form in the “Expose” field. This token allows CiviMail authors to link to the form.

You need to set Autofill to Current User in the Individual tab. But you do not need to "accept Id from URL”. If you do not need it, it is more secure not to "accept Id from URL".

In a message template, you can select the Afform Token with the name of your form. Two tokens are created: URL and Hyperlink.

When the recipient clicks the link, they access the form with the contact’s data populated.