So optimize for that. Make it easy for a developer to look at your API with a web browser. This means simple URLs. It may mean a limited form of HATEOAS, in terms of providing links to the next things.
But it absolutely doesn't mean using HTTP status codes to convey important information. It doesn't mean using content negotiation for API versioning. It doesn't mean adopting every new HTTP verb, and frankly there's a lot of value in making every endpoint accessible over GET and POST. Those who insist on strict REST are missing why it succeeded.