Refresh token not generating id_token

In password less sms authentication, refresh token only giving access_token.
As per docs here, refresh token can be used to generate id_token & access_token both.

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I am facing the same issue. I am calling the renewAuth(refreshToken) method on the Auth0 Java client and I only ever get back the access_token and the id_token is always blank. Did you get this figured out?