You can simply express the solution for a point particle at rest in an inertial reference frame in a covariant way. In the rest frame of the particle the four-potential is given by
$$(A^{\mu})=\begin{pmatrix} \Phi(\vec{x}) \\0 \\0 \\0 \end{pmatrix},$$
where (in Heavyside-Lorentz units, which are most convenient here)
$$\Phi(\vec{x})=\frac{q}{4 \pi |\vec{x}|}.$$
To write this in a manifestly covariant way, just introduce the four-velocity of this rest frame of the charge, ##u^{\mu}=(1,0,0,0)##. Then
$$A^{\mu}=\Phi u^{\mu}.$$
Now ##\Phi## is a scalar field, and all you have to do is to express it also in a manifestly covariant way. That's simple, because
$$\vec{x}^2=(x^0)^2-x \cdot x = (u \cdot x)^2-x \cdot x$$,
where
$$a \cdot b=\eta_{\mu \nu} a^{\mu} b^{\nu}=a^0 b^0-\vec{a} \cdot \vec{b}$$
is the Minkowski product between four-vectors.
So writing
$$\Phi(x)=\frac{1}{4 \pi \sqrt{(u \cdot x)^2-x \cdot x}},$$
you can now set ##u=\gamma (1,\vec{\beta})## to describe the field seen from an arbitrary inertial frame, where the charge moves with a constant velocity ##\vec{v}=c \vec{\beta}## and ##\gamma=1/\sqrt{1-\vec{\beta}^2}##. Finally you get the fields in the usual way
$$\vec{E}=-\frac{1}{c} \partial_t \vec{A}-\vec{\nabla} A^0 = \frac{q}{4 \pi} \frac{\gamma(\vec{x}-\vec{v} t)}{\sqrt{(u \cdot x)^2-x \cdot x}}$$
and
$$\vec{B}=\vec{\nabla} \times \vec{A}=\vec{\beta} \times \vec{E}.$$
For a calculation, using the retarded potentials for a uniformly moving point charge, see Sect. 4.8 in
https://itp.uni-frankfurt.de/~hees/pf-faq/srt.pdf