However, although you are free to walk around in search of the front door, you can't start eating the fruit off the trees. Perhaps that's the better analogy: the trees are happy to serve up a delicious treat for anyone requesting something of it, but that doesn't mean the tree sets the rules. Just because fences preventing this are popular doesn't make them compulsory.
But how does it become fraud?
Like, if you found a company badge laying around, go to that office and flash the badge to the security guard and go in. You've committed fraud by tricking the guard into thinking you're authorized to enter when you weren't.
No credentials involved here, though.
The same could be said about typing any URL that wasn't knowingly supplied to you by the owner, but a "reasonableness test" in court would sort those out from nefarious activity.
API documented on the website under a section called “For Developers”? Probably, yes. API reverse engineered by intercepting requests? Probably not.
Note that the blog was taken down before I could read it myself.