Using barman-cloud-restore from a hook backup

[Duster]

Here is my setup:

Postgres Server = pg16
Barman Server = barman
pre_archive_retry_script = 'barman-cloud-wal-archive -v --cloud-provider aws-s3 ...'
post_backup_retry_script = 'barman-cloud-backup -v --cloud-provider aws-s3 ...'

I performed a backup of pg16 the BACKUP ID is 20250602T163025,  I am simulating that AWS has the backup but the barman server no longer has the backup which I need to restore.  I tried running the following command from the barman server:

barman-cloud-restore -v --cloud-provider aws-s3 s3://bucket pg16 20250602T163025 $PGDATA

This command did not work as I expected as the PGDATA directory for pg16 does not exist on the barman server, I was guessing that it would restore to the pg16 server.

So, I then tried from the pg16 server the same command. This resulted in receiving an error that the barman user does not exist.  This makes sese to me, since I am using the central barman server approach. In addition the pg16 server does not have access to AWS S3 ONLY the barman server does.

My question is what is the proper way to perform this recovery?  The documentation is not clear on the steps to recover a backup from the cloud that was done using hook scripts.