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That's a valid approach. Two comments:
- If this is the only Lambda function you have you might also consider Lambda Function URLs - they are simpler to set up than API Gateway but also don't come with all the features that API Gateway does. So which you use is going to depend on what else you need.
- You don't have to but you should be authenticating the caller somehow. That will also influence your decision on which endpoint type to use.
Just to add that if all your Lambda function does is to add the message to SQS, you can use direct service integration in API Gateway to send the message directly into SQS, without the Lambda function.