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You could implement custom authorizer to validate the header request before to forward the request to IoT as described in the link you posted.
If you want to use the REST API (as in the link posted) you can check here for information on how to create a custom authorizer via lambda. This would allow you to get the request header and verify it before your request is forwarded to IoT
If you want to use HTTP Api gateway (but I don't think you can link directly to IoT) you can check here
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Thanks Miki!
I have looked through the documentation further and HTTP calls are restricted in what they can do, only publish.
Plus, I don't think I can provision devices through the HTTP API.
Do you know if there's a way to have someone hit an HTTP API gateway, and a Lambda function then upgrades that transmission to a MQTT or MQTT over WebSockets connection?