Exchange a Custom Auth Server access token against Okta Org Auth Server token for API access

I would like to use for an user with a session (= having an access token) from a Custom Auth Server to also access the Okta API (in my case to self-service the refresh tokens).

As stated in Implement OAuth for Okta you need an Okta Org Authorization Server issued access token to access the Okta API.

This works fine, but needs to “re-authenticate” the user in our application.

=> Is there a way to somehow share the session from the custom auth server, meaning that the user doesn’t have to re-authenticate/login twice (for both the custom and Okta auth server)?

In other words, can we somehow exchange an Custom Auth Server access token against an Okta Org Auth Server issued one?

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