This post is saying to avoid OAuth and use bearer tokens because OAuth is too complicated. I agree with OAuth being too complicated, but I don't really think bearer tokens are the solution either.
Now there are jwts, and passkeys, and all these other solutions, which from where I'm standing, just look like someone else's resume-builder that I'm going to have to understand in a few years in order to do something simple and unrelated.
We are already connecting over TLS, just have the client authenticate with a long lived asymmetric key. Let me see that key in whatever web framework; I should have access to it, same as an HTTP header. Then I'll stick it in the database, maybe hash it first, if it's big. It doesn't have to be harder than that, your identity is (the hash of) your public key.