So currently you cant assign a custom domain to api gateway yet, i would imagine some point in the future you could register a custom domain to it. (either via some native control or at a GCLB level to map as a Serverless NEG)
The difference between this and cloud endpoints is that this is a managed service that you don't have to worry about running the underlying infrastructure to.
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I have a question, how can we change the url of the gateway api for our custom domain. And what is the difference with Google Cloud Endpoints?