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The best way I've found to locate the X-Amz-Target value is from this AWS support ticket where it is recommend to look at the SDK docs for the service and locate the targetPrefix field in the metadata.
Back in early 2021, I gave a talk at a Nimbella (now Digital Ocean) conference about power tuning your serverless APIs for happy customers. There were several optimization points in there, but the key takeaway I wanted people to remember was that API Gateway connects directly to AWS services.