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Can Burp detect new REST APIs exposed on a server

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Can Burp detect new REST APIs exposed on a server

I am trying to write an automated test that runs on all exposed APIs on a server and checks each endpoint for vulnerabilities.

The problem is the server I am testing always has new APIs exposed, so I want my test to automatically detect new APIs exposed and then run the scan on them. Is that feasible?

I found this link from burp. It says that

API scanning works in a similar way to web page scanning, but instead of crawling for web content Burp Scanner crawls for exposed API endpoints

Does that mean Burp can do what I am looking for? Scanning a server and detecting the exposed REST APIs?