That is, surely you've worked on a web app where you receive requests from users. Those requests are authenticated (and authorized) in various ways, from OAuth tokens to session cookies to API keys. When you're handling those requests, do you require that they're signed as well? I've rarely seen such a thing (the article points out that AWS does, for example), but most web apps I've worked on don't. We simply take the request for granted (assuming its come over a TLS connection), and then check the credential.
The article is asking: if that's good enough for logic on a web app, why not in reverse? A server handling customer requests generally doesn't know their provenance either, and simply relies on the credential (unless you have IP allow-listing and other measures like that).
I actually work on webhooks as well, and we sign them (and offer mTLS and various other security measures) but I sort of took all those best practices for granted. Now I'm trying to think through what the actual threat model is here, and why it doesn't apply in reverse to the REST API endpoints that we also maintain. I can see the point of signing rather than an included credential if you allow webhooks to http endpoints, but is that it? Probably better to just not allow non-https delivery URLs anyway.