I would vote for leaving a space between the boards. Or even butting them together during installation, and the natural "shrinkage" will usually leave a little gap.
A couple of years ago, SWMBO was looking at our back deck (about 3 years old at the time) and she didn't like the gaps between the PT decking boards. She asked how big of a deal it would be to pull them up and push them all together. I told her it wouldn't be too tough, but it wasn't a good idea because it would cause water to stand on the deck.
Long story short, I pulled up all of the decking, pushed it together, and even had to add a couple of boards to make up for the gap spaces.
Worst idea ever - and I can't even say "I told you so" - not if I want to still sleep indoors. Several of the boards have warped, twisted, bowed up, etc. due to having water standing on them at times and poor air circulation. One of these days we are going to re-deck - again - and she has agreed to leave some space between the wood.
If it were me, I would leave a little space. If you are worried about bowing in the middle, I would think that you could run some PT 2x4s underneath the decking as you install it (or after, if the bottom of the bridge is accessible) and screw the deck boards to those. It would serve as a tie to keep them together.
I would also go ahead and make it wide and just put a board perpendicular to the decking boards along the edge. Nothing that you have mentioned driving (or walking) across the bridge would cause too much of a canitlevered load anyway.
Good luck and take care.