Regarding S3 lifecycle rule?
It is not possible to move objects from Glacier to S2 standard using Lifecycle rule. Please refer to https://docs.aws.amazon.com/AmazonS3/latest/userguide/lifecycle-transition-general-considerations.html
When I read your question, I wondered if intelligent tiering could automatically produce a similar result. Intelligent tiering can move your objects all the way into deep archive (after you opt in for this behavior), but it cannot move them back out of archive (S3 glacier or glacier deep archive) because of how objects are retrieved from archive:
It’s not possible to even get an object from archive without first restoring it: https://docs.aws.amazon.com/AmazonS3/latest/userguide/restoring-objects.html.