As with Keycloak, Auth0 can implement access tokens via a client and some code.
However, that would assume you use a custom policy within your token for access control, as Auth0 does not provide the same level of RBAC for clients as it does to users.
My account was banned two years ago just for accessing it from abroad. This is real, don't use DO.
They finally gave me temporary access even though they didn't believe who I was. This was the icing on the cake, they gave me access to a cluster, they could've given it to anyone.
It's cheap but seriously not worth it. They also have many more outages than other larger providers.
This exact same thing happened to me last year. I accessed my account abroad and they perma banned me.
Support was useless and even with evidence did not believe who I was.
I then somehow convinced them to give me temp access, which in my opinion is even worse. They didn't believe me about who I was and then gave me temporary access to an account. DO can't be trusted when their support team could so easily be socially engineered.
However, that would assume you use a custom policy within your token for access control, as Auth0 does not provide the same level of RBAC for clients as it does to users.