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How are you creating the API Gateway? If you use Serverless Application Model you can define the default parameters for each method (including authentication). At deployment time, it's done for you. There are other defaults too such as the Lambda function language - many more...
From the documentation check out Api
(for REST APIs) and HttpApi
(for HTTP APIs). Both have an Auth
section that lets you specify the default Lambda Authorizer but it can be overriden on a method-by-method basis.
Thanks @Brettski-AWS and @Didier_Durand