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This was one we were considering a bit https://backstage.io/
If the latter is the case, what you are probably looking for is called a Developer Portal, and this is what you typically see when you are looking to integrate with someone's service, for example Discord Docs. A Developer Portal sits in front of the API Gateway. You can kinda see how that fits together too, they have documentation on how to make calls to their /channels service, /guilds service, etc, and they all sit behind one url, idk what discord's is, https://api.discord.com.
So you mean there is an endpoint on each of your service that will bring you to a view like the PetStore example?