We have just released the first version of our magerun2 plugin "bitexpert/magerun2-list-api-endpoints". The plugin will print out a list of all defined webapi endpoints including their routes and defined resources. You are able to filter those routes by their respective HTTP method and name as well.
Current situation: I have no local webserver running and just php5-cli (plus a few extensions) installed as most of the development I do will make use of a Vagrant machine. From time to time I develop small tools or libs which I like to debug on the command line. This is an overview how I configured my Ubuntu 14.04 box to handle debugging with Xdebug and phpstorm.