The fundamental problem is that the code tries to use the REST API endpoint before the endpoints have been registered.
Specifically it needs to do this after the rest_api_init hook has fired. Try to do it on a hook that runs after plugins and theme are loaded such as wp_loaded.
In general avoid doing work in the root scope of a plugins file or functions.php. WordPress is architected around hooks and filters and a particular load process, so it’s more accurate to think of hooks as events on a timeline. By just putting stuff in the plugin file without using a hook, it’s essentially running in prehistoric times. You can’t ask it to drive from A to B because cars haven’t been invented yet.
So this isn’t a problem of what, it’s a problem of when
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