Hello @vihaary,
Create to hear it worked as expected. Invoking your endpoint from an AWS Lambda function is pretty easy you can either use the boto3 sagemaker-runtime or install the sagemaker sdk into your lambda function.
boto3 snippet:
import boto3
import json
client = boto3.client('sagemaker-runtime')

response = client.invoke_endpoint(
EndpointName=ENDPOINT_NAME,
ContentType="application/json",
Accept="application/json",
Body=json.dumps(payload),
)
print(response['Body'].read().decode())

sagemaker snippet
from sagemaker.huggingface import HuggingFacePredictor

predictor = HuggingFacePredictor(ENDPOINT_NAME)
response = predictor.predict(payload)
print(response)