Filter the generated REST routes by filtering the show_in_rest arg in register_post_type function

disable-custom-rest-routes.php

<?php
function dbdb_unset_rest_routes( $args, $post_type ) {

	$allowed_post_types = array( 'page', 'post', 'company', 'job' );
	$allowed_post_types = apply_filters( 'dbdb_unset_rest_routes_types', $allowed_post_types );

	if( in_array( $post_type, $allowed_post_types ) ){
		return $args;
	} else {
		 $args['show_in_rest'] = 0;
	}

    return $args;
}
add_filter( 'register_post_type_args', 'dbdb_unset_rest_routes', 20, 2 );