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So you're talking streaming 'Data' from a server and not talking about AutoCad entities. You might be able to do it with ArcCIS Connector for AutoCAD but I doubt it. For more qualified responses, you might want to move your question from Vanilla AutoCAD forum to the Map3D forum. Unfortunately, Vanilla AutoCAD won't do. The Map 3D toolset is what you need.
REST services don't work well (or don't work at all) with AutoCAD. Furthermore, AutoCAD's connections for WMS are hit-and-miss and for WFS, it's even worse. If you have data hosted on a server, then ask your colleagues whether the same data is available in shapefile format (the easiest if you want to pull your data into modelspace) or even gdb. If you have experience with FDO (Feature Data Objects) then you won't have any issues. If you're a dabbler, then make sure your question in the Map3D forum begins with 'How to Make a Connection to......."
Chicagolooper