How to map users' roles or groups from Google for use in Auth0?

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I was looking further into it @arilsonbarcelos , and actually the upstream IdP’s scopes should be under:

“upstream_params”: {"connection_scope": {
        "value": "https://www.googleapis.com/........"
      }}

Also, make sure that the application registered on the Google side has appropriate scopes allowed.
We have a Knowledge Solution for analogic use-case, maybe you find it helpful for general steps: Accessing Additional Scopes in Google Social Connection