Hey there @filipebrius welcome to the community!
The permissions in the ID token with use of a namespace as pictured are added as a custom claim by a Rule or Action in your dashboard - You won’t be able to use the permissions claim directly in ID tokens as it’s a restricted claim. So, the way you are going about adding permissions to ID tokens currently is correct:
Permissions are added using the permissions claim in access tokens as part of RBAC:
https://auth0.com/docs/get-started/apis/enable-role-based-access-control-for-apis