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I am trying to understand OIDC and i dont see the purpose of the ID token if with just the access token, i can make a request to the userinfo endpoint and get the user info. What then is the purpose of the ID token?

In addition, what links an access token to a specific ID token? Are they linked at all?

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As far as I understood it, the id_token is just a standardized way to signal the client application that the user has been authenticated. It might also save you some round-trip depending on the additional info that is contained in the id_token.

Just in case you haven't seen it yet. There is a great explainer video called OAuth 2.0 and OpenID Connect in Plain English that I found very helpful.

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