In the Auth0 control panel, it’s possible to set different expiration periods for access tokens and id tokens.
For access tokens, you’d go under APIs >> Settings >> Token Expiration (seconds)
For id tokens, you’d go under Applications >> Settings >> JWT Expiration (seconds)
Why have different expiration periods?
No matter which token expires first, I’d simply call the auth0.js library’s checkSession() method, which would renew both tokens anyways.