> If your API will never be navigated by a human operating a browser, a lot of the REST specification is inapplicable (navigation links, etc.)
That's incorrect. REST was designed for services of all kinds, not just human interfacing services.
The point of links is to support service upgrade via good old encapsulation. Consumers of your API shouldn't just guess links like is commonly trumpeted as REST, they should navigate to the part of your service they need from a well-defined endpoint, and this navigation path has a well-defined lifetime specified by cache control headers (HATEOAS).
The service promises to honour the lifetime of any visited URL on that path as specified by said headers, and any client trying to use that path after the expiry date must be prepared to possibly receive error codes.