Hi there @ppalencia101!
Let’s start with ensuring, the client app (regular web application) is granted access to your test API in the Auth0 dashboard:
Applications-> APIs-> the one with ‘https://github.com/auth0/laravel-auth0’ identifier → Machine to Machine Applications → select the registered Regular Web application to be authorized.
(more on this: Register APIs)
Once ensuring it, please try invoking authentication again and see if it works for you?
You can also verify if the access token received is JTW (and not opaque) by trying to decode it in https://jwt.io/
Let us know the results or any other questions on this!