How to allow a Lambda that is inside a private VPC to make a GET request to a Regional API in API Gateway

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I have a lambda that needs to be inside a private subnet in the VPC so that it can connect to a Neptune database, but by doing it I can't make a GET request from a Regional API from my API gateway, from the research I made it seems like I need to set a NAT Gateway to connect to a public subnet in order to be able to make the GET request that I need to do.

I'm asking this question to make sure that what I need to do is set up a NAT Gateway, and if so what would be the best way to do that, is this a good guide on how to do it?

If setting up a NAT Gateway isn't the best way to resolve my issues, what would be?

I tried changing to a public subnet, but soing that made it so that I couldn't connect to the Neptune database

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