Hi! 100% Hasura is what you need! This is our calling card, I work for Hasura and if you need instant CRUD on your database, new or existing you can’t go wrong with Hasura.
It’s kind of like PostGrest with GraphQL.
It does exactly what you want, you have a database with models and it gives you endpoints for CRUD in GraphQL and you can RESTify any GraphQL to make it into a REST endpoint as well.
It does it by introspecting the database then generating a schema, and the OSS GraphQL-engine that runs Hasura compiles the GraphQL directly to SQL.