Did you find a solution to this problem?
It sounds like you need a version of this: draft-ietf-oauth-token-exchange-03
Essentially, exchange an ID token from a third party for an API access token at OAuth.
The real world physical use case is: exchange passport for room key at hotel
I don’t believe Auth0 implements this yet (if ever). However, an approach to try is to build a service that:
- Validates incoming trusted third party JWT from client
- Mint a custom API access token using private key + suitable JWT library
- Send API access token back to client