apigw-regional-api-access-from-vpc

• https://aws.amazon.com/premiumsupport/knowledge-center/api-gateway-vpc-connections/

Connect to public APIs with private DNS enabled

If private DNS is enabled, set up edge-optimized custom domain names or regional custom domain names to connect to your public APIs.

Important: Resources in your VPC that try to connect to your public APIs must have internet connectivity. Also, when configuring DNS records for a regional custom domain name, you must use A type alias records. However, with edge-optimized custom domain names, use either A type alias records or CNAME records.

refer

• https://docs.aws.amazon.com/whitepapers/latest/best-practices-api-gateway-private-apis-integration/rest-api.html