How can I read the claims from the access token payload in java?

How can I read the claims from the access token payload in java?

No answer on this? It is such a basic use case. Nothing in the documentation, no answer by the community. I really start having doubt about auth0 credibility…

Can someone please answer this? Lots of info on how to add custom claims to the token, but how to read the claims from Spring/Java is nowhere to be found…