The SOFA project you linked looks interesting. I haven't seen it used with the Neo4j GraphQL Library, but looking through the docs I don't see any reasons it shouldn't work. Did you try it? Curious if it worked out for you?
Another thing to consider is the Neo4j GraphQL Library's OGM package. While it won't autogenerate a REST API, it can be used with the same GraphQL type definitions as used for the GraphQL API to define your models. It then exposes a programmatic API that can be used when defining the routes for your REST endpoints.