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However, I have noticed that Auth0 does not issue valid access_token during authorization code flow.

I find that hard to believe. Not sure what you mean by "valid" here.

but the access token has empty payload.

Auth0 issues opaque access tokens when no audience is specified. And those tokens are valid for the UserInfo Endpoint given they were issued in response to an authorization request with the openid value amongst its scope authorization parameter.

Bottom line, your existing access token should work just fine. Lacking any further details from you it's hard to say why it doesn't.

to get full access token, one must supply audience during authorization request.

What do you mean by "…

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