To my knowledge, only a full re-authentication by the user would renew that access token. Having said that the process to obtain those access and refresh tokens already implies that you don’t do it through a public client as those types of client won’t also be able to correctly use client credentials to get a Management API token to call the users endpoint with the correct scopes.
The recommended approach would be to leverage the refresh token and refresh the access token from a suitable client application. For example, if your SPA already talks to a properly authorized API, that API can broker this process and act as a non-interactive client application with regards to Auth0. This would allow the API to obtain the refresh token and also use the associated client secret to perform the renewal.