This assumes you have already:

• Downloaded and Installed the AWS Serverless Application Model (SAM) CLI on Linux.
• Initialize Serverless Application Model (SAM) app using the sam init command
• Built your Serverless Application Model (SAM) app using the sam build command
• Deployed Serverless Application Model (SAM) app using the sam deploy command

Let's say the template.yaml file for your SAM app is located at /tmp/sam-hello-world/sam-app/template.yaml.

]$ ll /tmp/sam-hello-wolrd/sam-app
total 20
drwxrwxr-x 2 ec2-user ec2-user   24 Nov 16 02:13 events
drwxrwxr-x 2 ec2-user ec2-user   63 Nov 16 02:13 hello_world
-rw-rw-r-- 1 ec2-user ec2-user    0 Nov 16 02:13 __init__.py
-rw-rw-r-- 1 ec2-user ec2-user 8329 Nov 16 02:13 README.md
-rw-rw-r-- 1 ec2-user ec2-user  679 Nov 16 02:13 samconfig.toml
-rw-rw-r-- 1 ec2-user ec2-user 1681 Nov 16 02:13 template.yaml
drwxrwxr-x 4 ec2-user ec2-user   80 Nov 16 02:13 tests

The sam list endpoints command should return both the /Prod and /Stage URLs of your Serverless Application Model (SAM) apps.

]$ sam list endpoints --template /tmp/sam-hello-world/sam-app/template.yaml --output json
[
  {
    "LogicalResourceId": "HelloWorldFunction",
    "PhysicalResourceId": "sam-app-HelloWorldFunction-MgYCNMibayEZ",
    "CloudEndpoint": "-",
    "Methods": "-"
  },
  {
    "LogicalResourceId": "ServerlessRestApi",
    "PhysicalResourceId": "zulgntw90l",
    "CloudEndpoint": [
      "https://zulgntw90l.execute-api.us-east-1.amazonaws.com/Prod",
      "https://zulgntw90l.execute-api.us-east-1.amazonaws.com/Stage"
    ],
    "Methods": [
      "/hello['get']"
    ]
  }
]

The sam remote invoke <function> --stack-name <stack name> command can be used to invoke a Lambda function in your SAM app.  Since the output above has HelloWorldFunction and sam-app, the following command would be used.

Invoking Lambda Function HelloWorldFunction
START RequestId: e482f4e8-15c0-434f-86e7-7cc846b10fec Version: $LATEST
END RequestId: e482f4e8-15c0-434f-86e7-7cc846b10fec
REPORT RequestId: e482f4e8-15c0-434f-86e7-7cc846b10fec  Duration: 1.45 ms       Billed Duration: 2 ms   Memory Size: 128 MB     Max Memory Used: 36 MB  Init Duration: 109.89 ms
{"statusCode": 200, "body": "{\"message\": \"hello world\"}"}