I would assume most people would use an extension to generate swagger off their endpoints on demand. Thats what I do in ASP.NET, via a library called Swashbuckle: Swagger and Swagger UI in three lines of code.
It’s strange to have been playing this game long enough to see a full cycle.
Here be dragons.
Furthermore, with an http api and depending on your security model, you can test/inspect a good portion of your APIs directly with a browser - a zero-cost client for all http apis that you get for free.