Front your services with ingress and attach it to load balancer
Here is the link of official documentation on configuring domain name with static ip address
As of my understanding, there is no such thing that automates cloud dns records from endpoints.
Note: The value you set for the kubernetes.io/ingress.global-static-ip-name annotation is the name of the reserved IP resource, and not the IP itself.
For more information please go through the following tutorial to get more info about kubernetes: