Head to the APIs page and select your API. In the Settings you’ll see an option to Allow Skipping User Consent which you should enable.
This option is also documented in more detail here.
Note: This toggle allows skipping consent for verifiable first party clients. If your client is hosted on localhost, Auth0 has no reason to believe that it’s truly a 1st party client as the user may be maliciously (or without their knowledge) running any client on the localhost. If you want to skip the consent page during development, you can setup a mapping in your hosts file to map localhost to app.local for example.
Note 2: At the time of writing this, if you use /userinfo only as your audience parameter or have an OIDC-conformant client (under advanced settings for a client), then you can’t easily customize skipping the consent page. This is something we’re working on.
