I write Lambda functions in golang. In dev I run the function as local http server. In prod I map a custom domain to the lambda, routing is done internally to the function. API Gateway is only used for the top level route. This workflow is enabled by https://github.com/apex/gateway

In principle I try to avoid Amazon Web Services that lock me into the platform. So, for my dev stack I run a few other containers to give me the equivalent of the prod environment, RDS (MySQL or PostgreSQL), ES (OpenDistro), S3 (Minio), and SES https://github.com/mozey/aws-local

Dev is easy because I can test everything locally, and the resulting code should be portable to any other cloud.

Obviously this approach might not be feasible if you choose to use AWS that do not have equivalent self-hosted options.