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No, when using API Gateway with a Cognito authorizer it is not needed. The token should just be placed in the Authorization header. Signing is used when calling AWS APIs or when using the IAM Authorizer in API Gateway. The signing is done using a mechanism called SigV4.
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Which token should be used? I noticed that the access token does not have a "sub" field for identifying the user.
You can use an ID token or an Access token.