I attempted a couple things to try to resolve. First I mapped the sharepoint document library to drive S:, then I ran my automation and the file successfully copied, however, the drive does not reconnect at startup even if the option is checked. Second, I mapped the drive using the connect to a website feature. The drive reconnects at startup, but TDP does not copy the file into the C:\Users\[username]\AppData\Roaming\Microsoft\Windows\Network Shortcuts\[folder name] folder even though the automation script completes successfully. When I drag and drop the file into this folder it works. Why would the automation script not copy the file when simple drag and drop works?
What did eventually work was placing "\\" in front of the sharepoint site url:
\\[server]@SSL\DavWWWRoot\sites\NA\sc\Shared Documents
Note that the URL was reformatted as if it were an actual drive with \ instead of /