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There are some old posts which discuss this, but they point to broken links.
points to https://helpx.adobe.com/experience-manager/using/restful-services.html which gives 404.
https://github.com/brandonmaynard/aem-restful-api has a REST client, but no documentation.
https://aem4beginner.blogspot.com/invoke-rest-services-in-aem-right-way uses OpenFeign, which is not a library I have come across, and there is not much information on how to do this with AEM.
If this was a normal Java app, we could use jersy, Jax-rs or Spring RestTemplate. I am hoping AEM has one of the standard libraries built in.
I am guessing HttpUrlConnection might be included in AEM, in which case we could write our own REST handler on top of this if all else fails.
What does everyone use to make API calls from AEM?
I would use Apache Http Client.
The JAX-RS comes with additional dependencies (this download additional javax dependencies) which might have a conflict with Sling dependencies.