Exception:

{
    "error": "invalid_grant",
    "error_description": "audience is invalid"
}

Resolution:

For “aud” value, please check the following when generating JWT.

1. Production: https://login.salesforce.com
2. Sandbox: https://test.salesforce.com
3. Experience Cloud site: https://site.force.com/customers

The issue will be resolved when the “aud” value is fixed. Don’t use My Domain URL for the “aud” value.