I'm building proxies in Edge (cloud) connecting to target endpoints in my network. I'd prefer not to write auth logic into my target API. What are my options to secure this connection?

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One option is to IP whitelist. Limit traffic to your target to requests coming from Apigee. Brainstorming more options...

I think you're talking about the link that is labeled "4" in this diagram:

Mutual TLS is the preferred way to secure this link!

This is described here.