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Call SAP REST API from Salesforce Using OAuth flow

We are facing an issue with the call out from Salesforce to SAP.We are calling SAP REST service from Salesforce using the OAuth2.0 flow.
As I am not able to post with screen shots, Created a Google doc with the complete details. https://docs.google.com/document/d/1b7-u0WCKFHUtTsOwzC-bfbawqi5MxU3Q/edit (https://docs.google.com/document/d/1b7-u0WCKFHUtTsOwzC-bfbawqi5MxU3Q/edit" style="color:blue; text-decoration:underline)
Can someone help us with the resolution to this issue. Please share some reference code if you have any. Thank you so much for your time.