Hi @galsaatva,
Welcome to the Auth0 Community!
Yes, using Actions to conditionally make a call based on the audience ID to your internal API is valid and recommended.
For this case, you will need to use the Machine to Machine Flow in Actions.
As a reference, you could refer to this FAQ for an example of making an Axios API request in an Action.
Please let me know if you have any questions.
Thanks,
Rueben