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It is recommended to use PS256 or PS512
RSA shall have a minimum length of 2048 bits
Elliptic curve shall have a minimum length of 160 bits
References
Note that some of the links below might not point to the latest version of the document.
The OAuth 2.0 Authorization Framework: https://tools.ietf.org/html/rfc6749
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OAuth DPoP: https://www.ietf.org/archive/id/draft-ietf-oauth-dpop-13
OAuth 2.0 Security Best Current Practice: https://datatracker.ietf.org/doc/html/draft-ietf-oauth-security-topics