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Unless you missed something in your code sample, then the lack of an audience configuration is your problem:
clientId and domain are REQUIRED. Your application needs some details about this client to communicate with Auth0.
audience is required unless you’ve explicitly set a default audience on your Auth0 tenant.
Keep in mind you can configure the default audience by going to your dashboard, clicking the tenant dropdown (top left) and selecting Settings. Then scroll down to API authorization settings and enter a default audience.
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Turns out its a typo in the client_id. It should be clientId. The auth0 logs helped.
Source:stackexchange.com