A similar question to the articles is whether you actually need Auth0 or not. You might but then you are offloading all the issues of JWT's to Auth0 so in theory, probably not in practice, you don't have to worry about those.
For many apps however. You probably don't really need Auth0.
This is how apps were doing it for literally decades, before JWT was invented. And most web frameworks will do all of this for you.
Hashed and salted
I hope
0: Such as use a secure hash like sha256 or blake2 instead of md5.
I've done this before. The first library I used had a horrible security issue that remained unfixed. We switched to one that seemed to be secure. Implementing SAML is non-trivial. Adding automated testing is also not something that required more senior people on our team. Getting engineers to understand how SAML work takes effort.
Also, about one out of five SAML IdP's are unconventional in some way. They are a royal pain to support.
The support burden of SAML is much higher than expected. Paying for Auth0 is cheaper than the engineering cost of supporting SAML, even with one of the existing libraries you refer to.
And there's a good chance you really don't want to pay for Auth0. Their Enterprise tier becomes very expensive as your MAU starts to grow
Yeah, exactly. I get to offload everything to Auth0 instead of maintaining a cryptographer on our payroll to reimplement a solved problem. Hand rolled OSS authz/n may work for individual projects, but there's no other reasonable solution in a modern enterprise environment with SSO.