Hey folks, just in case it helps someone, I was hitting the same error as @jakey699 and it was because in the “Issuer URL” field in the API Gateway V2 console, the URL must include a trailing slash. So instead of “https://whatever.us.auth0.com” it needed to be "“https://whatever.us.auth0.com/”. Pretty subtle change, spent way too much time trying to figure out the problem 
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