Is there a node.js library for creating/validating a M2M Auth JWT token?

We have internal microservices that are using M2M Authentication to authorize the requests between each other:

However I don’t really like reading help docs (and then having to follow them if anything has changed in them) and copy pasting code for auth validation whenever I create a new service.

Is there some small JS library that does all of the above with auth0 (and extracts framework agnostic [not based on express])? If not, do you (auth0) plan to create one? Maybe someone else has created it already (for their own purposes, but then open sourced it)?