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In order for an EC2 instance to register with Systems Manager, it requires connectivity to the Systems Manager endpoints. This can either be over the public internet via an Internet Gateway, NAT Gateway, proxy server, etc. Alternatively, you can create VPC endpoints for Systems Manager to keep the traffic within the VPC.
If you do not have VPC endpoints created and the instance is placed in a private subnet, the instance will not have a route to the endpoints for registration and management with Systems Manager.
Here is the CDK documentation for InterfaceVpcEndpoints: https://docs.aws.amazon.com/cdk/api/v2/docs/aws-cdk-lib.aws_ec2.InterfaceVpcEndpoint.html
If you create the VPC endpoints, then you no longer need the public subnet as the instance can communicate directly with the VPC endpoints for Systems Manager.
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