The Google Drive Add-On is designed to allow you to create SignRequests straight from the Google Drive document.
If you would like to automatically have specific signed documents uploaded to specific Google Drive folders, please see this article instead.
The following video is a tutorial for how to set-up the SignRequest add-on for Google Drive:
Please note that the Google Drive Add-On will not work from a shared Google folder, resulting in a 500 Error. This is on the side of Google and is unfortunately out of our hands. However, it is possible to set up a signing flow accessing a shared Google folder with Zapier.
To install the SignRequest add-on for Google Workspace, please select this link. -> Google Add-On