redirect to uploaded (wordpress) post after form submission from front-end

Since you are already getting the ID of the newly created post ($post_id), you just need to get the URL and redirect after the submission.

Using get_permalink( $post_id ) you can get post’s URL. Also, you can get rid of the header() function to send a new HTTP header, and use WordPress’ own function for redirect – wp_redirect(). 

wp_redirect( get_permalink( $post_id ) );
die();

https://developer.wordpress.org/reference/functions/wp_insert_post/
https://developer.wordpress.org/reference/functions/get_permalink/
https://developer.wordpress.org/reference/functions/wp_redirect/

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