I did for one project, although I got kicked off a year in, because they didn't know what they had.

IMHO every REST API should be discoverable this way like the web, for example with links to related resources in responses (at least in dev) and by having OpenAPI documentation at a root path like / or /api.

JSON API provides much of this for free when used with something like Laravel:

https://jsonapi.org

https://jsonapi.org/implementations/

https://github.com/laravel-json-api/laravel

Edit: honorable mention:

https://github.com/api-ecosystem-for-laravel/dingo-api

Yes. Consultants.