Is there any API present in WDA for getting elements is of passed co-ordinate and perform interaction using that endpoint?
i am asking about iOS
There is no such API. You could use either touch actions or W3C actions to perform gestures based on coordinates. Check https://appiumpro.com/editions/29-automating-complex-gestures-with-the-w3c-actions-api
Also, some common gestures could be done using extensions: https://appiumpro.com/editions/30-ios-specific-touch-action-methods