Hi Nikhil,
There is a free trail on the website, check this path: https://plm.sw.siemens.com/en-US/teamcenter/
If you log in to Teamcenter and view the developer tools for your browser, you will be able to see the requests made and should be able to determine the URLs you need. Look for queries such as getProperties or getUnreadMessages for instance and you’ll see the request URL is like
<main URL>/tc/RestServices/Core-2006-03-DataManagement/getProperties
This means that the 4 tier URL is <main URL>/tc
The FMS URL is usually of the form <main URL>/tc/fms, but you can probably find this in a similar way