I have a RESTful service running on GCP's App Engine which is secured by IAP. I'd like to invoke those methods from a web app but not sure how to set up authentication. The web app is written in TypeScript / Angular. Any guidance/examples would be greatly appreciated!
How to authenticate with web services on App Engine
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You can use a service account or ID token, after configuring your API to support authentication. You can find plenty of details and examples on the "Authentication Between Services" documentation page.