Custom authorization server - change signing algorithm?

I’ve successfully created a custom authorization server. When I go to the keys endpoint there is a single key with alg set to RS256. When I do an OIDC authorization code auth flow I get a JWT token signed using RS256.

How can I instead configure the custom authorization server to issue tokens signed using ES256? I prefer ES256 as they are faster to verify. Thank you.

You can use the Client Credentials Flow to generate tokens signed using ES256.

This example might be an help - Build a JWT for Client Authentication | Okta Developer

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