Upgrade from Spring Boot 2.6.6 Tomcat 9 to Spring Boot 3.0.0 Tomcat 10 issue

My old code in Spring Boot 2.6.6 and Tomcat 9



    protected void configure(final HttpSecurity http) throws Exception {

      JwtWebSecurityConfigurer.forRS256("my auth0 audience", "my auth0 domain")

All the API endpoints works fine when I pass in the Authorization Bearer token in the header.

But after upgrade to Spring Boot 3.0.0 and Tomcat 10. Tomcat 10 uses Jakarta instead of Javax, so my library auth0-spring-security-api stopped working.
Method JwtWebSecurityConfigurer.forRS256() gives me java.lang.NoSuchMethodError: 'javax.servlet.http.HttpServletRequest error.

How to fix my problem in the new environment and how to decode auth0 access token in configure(final HttpSecurity http) method so i can access protected APIs (readAuthor, writeAuthor…). Are there any other libs i can use? Or any examples?