How to renew access token with a refresh token

I am able to retrieve an access_token, refresh_token, and id_token from the oauth/token endpoint. I need to refresh both the id_token and the access_token for my API when they expire. However, the /delegation route that is documented to be used to refresh the tokens seems to only renew the id_token. How can I renew the API access_token as well?

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Found my answer here Refresh Tokens.