JIRA datacenter OIDC/OAuth with client credentials / password grant

Hi,
I have configured my Jira datacenter instance with Okta as we Auth0.
and everything works fine with Authentication using UI.

but I want to use the OAuth access token to communicate with rest APIs (which i think will come under client credentials /password grant).

when I use the generated token from OAuth provider like okta with Jira REST APIs.

I get error -
Unsupported JWS algorithm RS256, must be HS256, HS384 or HS512

After changes OAuth provider to Auth0 which allows HS256 Algorithm I get this error-
Unable to verify JWT token signature.

Please let me know what I am missing in my configuration.
Thanks in advance.