Hi Anoop Jose ,
Welcome to Microsoft Q&A platform and thanks for posting your query here.
I understand that you are trying to call a REST API endpoint in ADF using service principal authentication. The error you are getting "AAD Auth Access token is missing or invalid" might be due to the fact that it's not correctly passed with proper syntax. In authorization header, you need to add "Authorization : Bearer <Access Token>". Kindly share the screenshot of the API call you are making.
You can use the client ID and client secret of the service principal to authenticate and acquire the token. You can then pass this token in the Authorization header of the REST API request.
Kindly watch out the following video to understand the steps for implementation on how to Get and use Access Token for Service Principle using REST API
Alternatively, you can also use powershell script to get the access token . Kindly check this blogpost: Getting an access token for AzureAD using PowerShell
Hope it helps. Kindly let us know how it goes. Thankyou