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Selenium Wire
Discontinued Extends Selenium's Python bindings to give you the ability to inspect requests made by the browser.
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mitmproxy
An interactive TLS-capable intercepting HTTP proxy for penetration testers and software developers.
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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
Perhaps https://github.com/wkeeling/selenium-wire helps.
You can programatically extract XHR request URLs: https://github.com/wkeeling/selenium-wire#intercepting-requests-and-responses It uses https://github.com/mitmproxy/mitmproxy which you could also script.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.