Does endpoint communicate between two vpc's

If it is VPC Interface endpoint you can connect to it via TGW.

https://docs.aws.amazon.com/whitepapers/latest/building-scalable-secure-multi-vpc-network-infrastructure/centralized-access-to-vpc-private-endpoints.html

Gateway endpoints are only available from within the VPC. Gateway endpoints do not allow access from on-premises networks, from peered VPCs in other AWS Regions, or through a transit gateway.