Binary uploads are a new APIG feature[1] awaiting Serverless support[2].
Surprised WWW-Authenticate headers aren't passed through. May be possible with custom authorizers[3], though it's extra complexity.
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[1] https://aws.amazon.com/blogs/compute/binary-support-for-api-...
[2] https://github.com/serverless/serverless/issues/2797
[3] http://docs.aws.amazon.com/apigateway/latest/developerguide/...