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You wouldn't even need Swagger if we actually used REST. Swagger is only around because we abandoned REST for RPC.

REST is just like scrum/agile. There is apparently some sort of "standard" but really anything goes and everyone does whatever they want.

What do you mean? REST was really clearly defined in Roy Fielding's dissertation when he proposed the term in the first place.

I agree people do whatever they want and call it REST, but that's not because of a lack of definition in what their term.