Is it possible to directly talk to AWS PrivateLink and not traverse the internet?

Hello,

I wanted to follow up on this topic I posted a while ago:

Now that AWS supports PrivateLink:

https://docs.aws.amazon.com/vpc/latest/userguide/endpoint-services-overview.html

is it possible for me to route traffic from my IoT to a PrivateLink I provide to you folks by allowing your AWS principal to call to this endpoint within your VPC?

Thanks,

-R

Any updates?