Consul data plane is replacing consul client agent running in the cluster. How to hit consul HTTP API going forward?

With the introduction of the consul data plane, the consul client daemon set is getting removed in the Kubernetes.

The documentation seems to be outdated for hitting the consul HTTP API Install Consul on Kubernetes with Helm | Consul | HashiCorp Developer

Pods cannot reach the consul HTTP API with ${HOST_IP}:8500 since the client agent is not running in the node any more

Do we need to hit the consul server endpoint directly in the future?