Hi @alexp,
Welcome to the Auth0 Community!
The user will be required to log in again once the access token expires.
Yes, it does make sense because they serve different purposes and do not interact with each other. Since access tokens are used for authentication to allow access to an API, they would typically have longer lifetimes using refresh tokens for extended access.
Whereas, ID tokens are used for authentication to cache user profile information. The session lifetime for ID tokens is typically short-lived for security reasons.
I hope that answers your questions, let me know if you have any more.
Thanks,
Rueben