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API Gateway: "Unable to determine service/operation name to be authorized" #430

Description

@corymatheson

When attempting to invoke a lambda via API-Gateway, I receive the following 502 error.

Endpoint response body before transformations: <AccessDeniedException> <Message>Unable to determine service/operation name to be authorized</Message> </AccessDeniedException>

This appears to only happen on endpoints that utilize Authorizers.
Current versions:
AWSTemplateFormatVersion: '2010-09-09' Transform: AWS::Serverless-2016-10-31

I followed the steps discussed by @lusentis and @jfuss here: [https://github.com//issues/59] but I didn't see any change as a result.
I also (unsuccessfully) attempted to manually add/remove permissions in the policy to track down the exact syntax that would work. As long an apigateway invoke permission exists, I get the 502, if no permissions exist I receive a 500 as expected.
The HTTP method doesn't seem to affect the result.

I would be happy to include an example of my setup if that would help.

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