For clarity, my call now looks like this:
$headers = array(
'Accept: application/json',
'Content-Type: application/json'
);
$auditPost= DreamFactory\Core\Utility\ServiceHandler::handleRequest('POST','ap-db','_table/Audit',[],$jsonPayload,'JSON',$headers);
The only element from the api_docs not present is the $query filters=* which I do not want. I only need the id back which IIRC is the default. BTW I can also add records via the Data tab.