@nickhodges, @kesiena.akp I think we figured it out 
Please check the value of AUTH0_DOMAIN in your .env. This value should be in the following format:
AUTH0_DOMAIN=https://<your-auth0-tenant-name>.auth0.com/
This value should be actually called AUTH0_ISSUER_URL, it was a mistake on my part to name it AUTH0_DOMAIN as it can be confused with the value that you can copy from the Auth0 Application page where you set up your demo client.
I apologize for this 
But thank you for bringing this up so I could correct the language. Let me know if this fixes your issue, please.