The following worked for me, though I would not be surprised to find out there is a better way.
I right clicked on the file in my google drive and selected Get Link. In that dialog, I set the permission to let anyone with the link download the file. I then copied the displayed link which had the form
https://drive.google.com/file/d/LongStringOfRandomCharacters/view?usp=sharing
I then used the document ID, that long string of characters in the following code.
id <- "LongStringOfRandomCharacters"
DF <- read.csv(sprintf("https://docs.google.com/uc?id=%s&export=download", id))
I tried pulling out the ID from your link and the above did not work and I'm not sure why. I got the method that worked for me from here: