I recently used the /crm/v3/objects/notes/search endpoint to get a lost of notes associated with a certain custom objectId. Should be able to modify it for your use case.
// /crm/v3/objects/notes/search
{
"filterGroups": [
{
"filters": [
{
"propertyName": "hs_attachment_ids",
"operator": "EQ",
"value": "<<ticketId>>"
}
]
}
],
"properties": [
"hs_note_body"
]
}