You should not be using the ID token as an authorization bearer token. You should be using an access token.
To get a token, you need to set up your Action as an application in the Dashboard. In this case, your Action will act as a machine to machine (M2M) application that makes requests to your API.
Then you can request an access token for your API with a client credentials grant.
Another quick question, is there any way to run actions locally? I would like the possibility to execute that API endpoint ‘http://localhost:8080/api/user/createUser’ from the action.