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We'd prefer you don't automate sending messages via the APIs - we expose a service, but it's one of the "private" API endpoints under the Terms of Use. This is one in particular that we'd likely pay attention to/have to respond to if people start using it, due to its potential to be abused for spam.
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POST https://www.bungie.net/Platform/Message/SaveMessageV3/ BODY[quote]{ body: "hello world", conversationId: [i]id of the conversation you're adding a message to[/i] }[/quote]