1. Confluent Documentation, "Authorization using ACLs": "For every request from a client to a broker, the broker checks for the appropriate permissions for the authenticated user. The permissions are based on access control lists (ACLs) that are defined for each resource." This statement explicitly confirms that the check is performed for every request.
Source: Confluent Documentation, Security > Authorization > Authorization using ACLs > How Authorization Works in Kafka.
2. Apache Kafka Documentation, "Security - Authorization": The documentation describes the request processing flow where authorization is a distinct step after authentication for each request. It states, "Kafka has a pluggable Authorizer interface... The Authorizer is used by the broker to authorize an action on a resource." The architecture implies this check is part of the processing logic for every API call that requires authorization.
Source: Apache Kafka Documentation, Section 7.3 Authorization.