I went through many answers, but many of them are wrong.
Before we do this, we need an IP and a token.
How to get IP : minikube ip
How to create a token :
$export secret=kubectl get serviceaccount default -o json | jq -r '.secrets[].name'
$kubectl get secret $secret -o yaml | grep "token:" | awk {'print $2'} | base64 -D > token
Note: base64 uses -D for mac, but -d for Linux.
Then the correct command:
#curl -v -k -H --cacert ~/.minikube/ca.crt -H "Authorization: Bearer $(cat ~/YOUR_TOKEN)" "https://{YOUR_IP}:8443/api/v1/pods"
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