Is there a way in AEM to share unpublished pages (basically drafts) with people who don't have access to the AEM? The only thing I can do right now is to use Snagit to take a full page screenshot, but sometimes the pages have dynamic content that makes the screenshot completely unusable.
Author server is always authenticated, if this is a on-premise environment, you can deploy a new publish server and use a custom replication to publish the page to this publish server (which ideally should have at least a basic HTTP authentication in front to avoid leaking pages to the wild). If approved, then, you can publish to the other publish servers that are configured to serve the final content.
Probably, the easiest way is to provide limited access to AEM Author server (no edit permissions).