In any application - REST, UI or otherwise - multiple levels of security may be necessary depending on your requirements. Authentication verifies the user is who they claim to be, authorization checks what permissions the user might have. Each application might have its own rules for what the user can access.
In your case, you have authenticated the user facilitated via Ingress with AppID, which supplies a user principal (identity) to your application. However, should every user have access to all of your application endpoints? If the answer is no, then you will need an authorization model, for which a common approach is RBAC (role-based access control).
Even without an RBAC requirement, it is still wise the validate the user's principal in some form for each request. For example, perhaps the user belongs to a domain that you might not expect, or should no longer have access to this specific REST application. Your application server may have features that assist you with a simple authorization feature, or you can custom build your own validation.
At present, as the identity provider, AppID can be the store of the user's role for RBAC. However your application or application server must decide what to do with that role.
If you are looking for a Cloud-centric authorization solution, you may want to consider exploring Istio's authorization policies: