REST does not make any sense for HTTP APIs. A request is just data: encode it in the request, use the request path as the name of the operation you are performing, the end. Same thing for responses. Forget about nested routes, query strings, path variables… They just make your life more complicated and do not bring anything to the table.
I've been using this model for multiple HTTP APIs and I only regret I did not realize that sooner. BTW I'm not alone, see the AWS API or the Telegram one.
Also makes writing API clients magnitude order easier.
