The simplest way is to use the REST API in the same site. This technique is valuable in scenarios where we use multiple plugins for application development. Assume, we have two plugins called A and B. We want to work with some of the features of plugin A within plugin B. In such scenarios, we will have to look for available filters/actions or directly change the code to implement it. Instead, if plugin A provides REST API routes for its features, we can easily access them through plugin B to achieve the requirements.
Also, another important thing is that we may miss some of the necessary validations, unless we completely understand the code of plugin A. With the REST API of plugin A, we don't need to worry ...