Consul api-gateway with vm

I am using consul to build a service-mesh environment.
It was decided to build an api-gateway instead of an ingress-gateway for all tls and mtls, and deployment and routing with services were successful in the kubernetes environment.

The vm also has a service, and in the case of the vm, I’m looking for a guide on api-gateway deployment, but I haven’t found it yet.

Configuration of the api-gateway is necessary because there are cases in which kubernetes needs to receive requests directly from the service in the vm without going through the api-gateway.

Does anyone have a guide for building api-gateway in a vm environment?