To do this, go to the design mode of the form page you would like to add the action in. You will find a list of your linked sheets under the Sheet Linking Tools menu, sorted beneath the type of linking. Click on the + icon next to the version of the sheet you would like to navigate to through your entries.
You will be prompted to name the button that will be added to your action.
This will create an action button that will take you to the URL from each entry to the associated entry in your duplicated sheet.
To have a link back to the first sheet, you can redo these steps in your second sheet.