Need to call the Rest APIs without needing to navigate uses to the https://account-d.docusign.com/oauth/auth?.. URL.

I want to directly call the REST APIs, without redirecting the users to the link below  --
https://account-d.docusign.com/oauth/auth?response_type=code&scope=signature%20impersonation&client_id=1ea1d-9164-4c10-923aa&redirect_uri=http://localhost/3000


So basically, I want some feature that will allow me to call the APIs directly, 
But according to the https://developers.docusign.com/platform/auth/jwt/jwt-get-token/ documentation, each time I need to redirect users to the https://account-d.docusign.com/oauth/auth? page and then get the code , act….

But my goal is to --- 

1. Create the envelope using `/restapi/v2.1/accounts/c16e83xxxxxxa-44b1-8f3e-bc810bc14707/envelopes` api and
2. navigate the user to that envelope `https://appdemo.docusign.com/documents/details/${envelopeId}` to the DocuSign where user can directly add recipients and tabs and send the documents to be signed by other users.

Is this possible? Please let me know, any help will be appreciated.