I've written more about Authorization Services: https://gruchalski.com/posts/2020-09-05-introduction-to-keyc...
And can recommend these resources: https://www.janua.fr/tag/technical-blog/
GPL is only a problem if you import or change the source code. If you just run it in the backend, as a service, you're most likely fine.
If you customise Keycloak through code, you're probably in GPL violation territory. With the customisability of Keycloak, I doubt that this is something many projects will ever run into.
The GPL allows you to copy & modify code for your own desires very generously.
The limitations you fear apply if you distribute the code (in source or other forms) or modifications yourself.
However, after looking into Keycloak more closely, the software seems to be licensed with the Apache 2 license, so none of this is a concern.