Hi @LisaGray
Welcome to the Auth0 Community!
I believe what you might be missing is taking advantage of Refresh Token Rotation, which uses the getTokenSilently() method in order to exchange an Access token with a Refresh Token, if the user needs to continue their session without re-logging in. As long a this is called while the Access token is still valid, the token rotation will take place and a new login will not be needed from the user.
I also recomment looking through this doc for additional information : Auth0Client | @auth0/auth0-spa-js
Hope this helped!
Gerald