I think I finally figured out how to discover the intent URL for an app.
Here's how I did it, which may help others...
In Fully > Settings > Universal Launcher > Select Items to Show
Now click on the "Add Application" button, then click on the app you want to find the intent URL for.
Now you'll see the app on the Launcher Items menu...click the edit pencil icon to the right, It will show the App component.
e.g., For tinyCam Monitor
Now paste in the intent prefix at the beginning of the component section...
And finally, place `;end` at the end of the string, so that you final url looks like this...
Fully's documentation page on this feature is: https://www.ozerov.de/fully-kiosk-browser/#faq-otherapps
Various examples can be found in this Post: https://support.actiontiles.com/communities/12/topics/1255-open-android-app-or-app-activity-via-url-formatted-shortcut#comment-15859
Customer support service by UserEcho