You are using a token URL the server does not advertise

What it means

Your --token-url differs from the server’s advertised token_endpoint. aud must equal the endpoint you post to, and some servers only accept the advertised one.

Fix

Use the advertised token_endpoint for both the POST and the aud claim.

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-profile