It looks like the issue was that AUTH0_DOMAIN was set to localhost instead of the domain Auth0 provides for it’s identity service (the ENV variable that used to be AUTH0_ISSUER_BASE_URL). In addition to that, o.sevcik91 was right that it should exclude the protocol.
A Quality of life improvement from the Auth0 team would be to give a more descriptive error message here to help point me to the problem at hand. Instead of:
An error occurred while trying to initiate the login request.
Maybe in discoverAuthorizationServerMetadata they could add some logic to interpret the error a little better and in handleLogin give a more user friendly error such as `An error occured while trying to initiate the login request. This can potentially be from your AUTH0_DOMAIN being set incorrectly.
Thanks for help everyone!