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Hi,
the right to do such a configuration automatically is via CloudFormation.
You have sample code for API Gateway with Lambda Authorizer here : https://docs.aws.amazon.com/serverless-application-model/latest/developerguide/serverless-controlling-access-to-apis-lambda-authorizer.html
Your goal is very right: you should never do such setups manually but always go for automation. The only use of the console is when you discover the service and its architecture.
CloudFormation may represent some initial investment but you save so much time when you get the right skills with it! (As you can see, I am a big fan of it...)
Best
Didier
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Thanks, but the example you wrote is not the answer to my question. In my case Api Gateway and the authorization function are in different accounts; while in yours they are in the same account. And I would like to use not cloud formation directly but aws sdk v2.