I agree streaming needs work, but if I had to deal with that I'd probably just use naked endpoints.
If you're talking about web sockets, yeah, I feel ya. I haven't had to navigate that situation yet but my plan of action is to bypass API gateway entirely and use a naked lambda running at its full execution time, and when we approach the 15 minute boundary, send a command that resets the connection. Don't know if it would work well but I haven't had a need to use web sockets for any projects I work on for a while.
For streaming, like you said, maybe an elastic beanstalk cluster is more the way to go depending on your workflow. If you can find a way to get it all to work in Lambda though, would probably be a game changer cost-wise I would expect as long as you figure out a way to deal with resetting every 15 mins.
1. You have a maximum of 30 seconds to reply to the request
2. You cannot stream data from lambda through the api gateway. Though you can stream to s3 etc.