How to read the data of a SD card configured as "Internal Storage"
You don't... if the SD card was encrypted adopted storage, and you removed it and factory reset the phone then you have lost all possibility of accessing any information on the SD card. You are better off just to reformat the card and start over.

The encryption "key" was stored on the device, but when you factory reset it the encryption key was deleted, it was a random key and cannot be regenerated. You have lost all possibility of accessing this card.

If the card was portable storage, then put it in a PC and try to read it, if it still won't read the card is probably bad or corrupted and should be formatted or replaced.