Signing key does not match the published public key
What it means
The key under your kid is not the public half of the private key you sign with, so the signature fails.
Fix
Sign with the matching private key, or publish the correct public key (--show-public-jwk prints it).
Check it with smart-doctor
Run your login and smart-doctor ranks this cause against the others, with the evidence it found.
npx smart-doctor check my-profileAlready have the server’s error? Explain it without running anything.
npx smart-doctor explain '{"error":"invalid_client"}'