Adobe Sign: Is this mandatory to call this API "api/rest/v6/baseUris" to get end points?

Hi Team,

I would like to know is this mandatory to call this API "api/rest/v6/baseUris" to get the access point every time or we just hit once & configure those URL on server to skip one API call in work flow.

Thanks in advance.

Regard,
Vishal Bansal