No.
You don't need access token to use https://xxxxx.my.salesforce.com/services/data. You can view it in your browser without any fancy headers, even in incognito window. I don't need to be a British Airways / Heathrow employe to see https://baa.my.salesforce.com/services/data or even any generic https://eu32.my.salesforce.com/services/data.
This is the real start url. You know nothing about the org, you don't know which API versions it supports - here's a list. It can't be protected by login screen.
I don't think you did it right. Your second screenshot contains "lightning.force.com", I'd expect "my.salesforce.com". Maybe API v 56 is not in that org yet. But for sure the url is wrong, you're supposed to use instance_url
from successful login response. See https://stackoverflow.com/a/68190644/313628 and screenshot in https://stackoverflow.com/a/73873644/313628. You can't take only the session id (access_token
)
And yes, sessions expire, anything between 15 min and 12h. What you can do next depends on how you got this access_token (some flows like "username password flow" don't generate refresh_token). Log in again or use refresh token to get new session id.