Hi @AmitJaiswal-8743 Thanks for reaching out. Management endpoint is registered in public DNS but configuration endpoint is not. For internal VNET - assumption is that self hosted gateway has express route to APIM via internal VIP.
Unfortunately according to PG, having a self-hosted connecting through an Application Gateway publicly isn't possible yet. However, having the configuration endpoint as a custom domain in apim is a feature that will be available soon, don't know the exact ETA.
you can leave your feedback here https://aka.ms/apimwish so that other users who are in need to similar feature can upvote it and PG can take it forward.
Please let me know incase of further queries, I would be happy to assist you.