Can we assume that /wp-json/ will always be /wp-json/ under any circumstances when creating custom REST routes?

Sure they can!

Actually the structure you used is assuming that url rewrites are on. Which may be or may be not.

To assure the right endpoint, you must use get_rest_url function: https://developer.wordpress.org/reference/functions/get_rest_url/

So in your case, this would be:

'get_rest_url' => get_rest_url(null, '/block_help/v1/block_identi...')

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