Regardless of whether you have configured your Shared Profile to require users to request access or not, you can choose to invite specific people to view your Shared Profile.
To invite a user to view your Shared Profile, head to the My Shared Profile page or click here.
From here, click on the "Invite user" button in the top right corner of your screen. Your screen should now look like the screenshot below.
Enter the person's email you want to invite, then click the "Invite" button.