Generating Access Token

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EDIT:
Was able to give consent to the API by calling getAccessTokenWithPopup. However still facing issues accessing private and private-scoped endpoints. They are still returning 401 Error.

ORIGINAL:
Found this post https://community.auth0.com/t/how-to-authorize-a-spa-to-access-an-api/56926. Even though I have assigned my user the permissions, I still get the following error in my browser console.

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useEffect(() => {
    const getUserMetadata = async () => {
      try {
        const accessToken = await getAccessTokenSilently({
          audience: "https://webapp/api",
          scope: "read:messages",
        });

        console.log(accessToken);
      } catch (e) {
        console.log("error ", e);
      }
    };

    getUserMetadata();
  }, [getAccessTokenSilently]);

Error: Consent required
    at new OAuthError (errors.tsx:8:1)
    at utils.tsx:15:1
    at auth0-provider.tsx:326:1
    at step (vendors~main.chunk.js:214:17)
    at Object.throw (vendors~main.chunk.js:145:14)
    at rejected (vendors~main.chunk.js:107:32)