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The exposure of network functions has been addressed in different 3GPP specifications (such as in NEF, CAPIF and SEAL) to support vertical applications and services. However, integration of vertical services with the 3GPP exposure frameworks still requires network-specific knowledge and tight coordination between service providers and telcos. The ENVELOPE project addresses this limitation by providing the necessary interfaces tailored to vertical use cases of Connected and Automated Mobility (CAM). This work presents the architecture and 3GPP-compliant message flow specifications that can serve as underlying implementations for two CAMARA service APIs: Device Location and Quality-on-Demand (QoD). We also demonstrate the feasibility of these APIs by conducting a testbed campaign to collect data for a remote monitoring (digital twin) use case, as part of the Dutch trial site.