There is a distinction between (proper) REST and what this blog calls "OpenAPI". But the thing is, almost no one builds a true, proper REST API. In practice, everyone uses the OpenAPI approach.

The way that REST was defined by Roy Fielding in his 2000 Ph.D dissertation ("Architectural Styles and the Design of Network-based Software Architectures") it was supposed to allow a web-like exploring of all available resources. You would GET the root URL, and the 200 OK Response would provide a set of links that would allow you to traverse all available resources provided by the API (it was allowed to be hierarchical- but everything had to be accessible somewhere in the link tree). This was supposed to allow discoverability.

In practice, everywhere I've ever worked over the past two decades has just used POST resource_name/resource_id/sub_resource/sub_resource_id/mutatation_type- or PUT resource_name/resource_id/sub_resource/sub_resource_id depending on how that company handled the idempotency issues that PUT creates- with all of those being magic URL's assembled by the client with knowledge of the structure (often defined in something like Swagger/OpenAPI), lacking the link-traversal from root that was a hallmark of Fielding's original work.

Pedants (which let's face it, most of us are) will often describe what is done in practice as "RESTful" rather than "REST" just to acknowledge that they are not implementing Fielding's definition of REST.