Expose port in minikube

I am not exactly sure what you are asking as it seems you already know about the minikube service <SERVICE_NAME> --url command which will give you a url where you can access the service. In order to open the exposed service, the minikube service <SERVICE_NAME> command can be used:

$ kubectl run hello-minikube --image=gcr.io/google_containers/echoserver:1.4 --port=8080
deployment "hello-minikube" created
$ kubectl expose deployment hello-minikube --type=NodePort
service "hello-minikube" exposed
$ kubectl get svc
NAME             CLUSTER-IP   EXTERNAL-IP   PORT(S)    AGE
hello-minikube   10.0.0.102   <nodes>       8080/TCP   7s
kubernetes       10.0.0.1     <none>        443/TCP    13m

$ minikube service hello-minikube
Opening kubernetes service default/hello-minikube in default browser...

This command will open the specified service in your default browser.

There is also a --url option for printing the url of the service which is what gets opened in the browser:

$ minikube service hello-minikube --url
http://192.168.99.100:31167

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