REST API design: HATEOAS vs pragmatic endpoints, versioning, errors, pagination

[Kenneth97]

I'm redesigning the public REST API for our SaaS platform to improve developer experience and scalability, and I'm debating several design choices, such as using HATEOAS versus a more pragmatic approach with clear documentation and predictable endpoints. I'm also unsure about the best practices for versioning, error handling, and pagination in a way that remains consistent across all our resources. For API architects, what are the most critical principles you adhere to for long-term maintainability, and how do you balance strict RESTful purity with the practical needs of your consumers?