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Difference between async/ and bulk/async in Magento 2

I need to override my REST API endpoints to async and faced the issue that I don’t understand the difference between asynchronous endpoints in

https://developer.adobe.com/commerce/webapi/rest/use-rest/asynchronous-web-endpoints/

and bulk endpoints in

https://developer.adobe.com/commerce/webapi/rest/use-rest/bulk-endpoints/

As I see they are working in the same way via a queue, could someone explain the difference or probably give a “right” way to create async endpoints from my REST API endpoints?