Seems to me the answer is indeed that simple: use OAuth2 and be done.
Bonus: If you stay close enough to the standard you can plugin a real OAuth 2.0 provider if/when you decide you need it.
I think we're thinking the same thought, maybe my terminology is sloppy.
Suppose we just say "Use this token-generation endpoint (with your credentials) to generate a session token, and attach that token by means of OAuth 2.0 Bearer Token in subsequent requests to other endpoints".
Doing that, we can easily scythe off any bloat, no? We don't care about people signing-in with their Google accounts, or anything like that. Or is that what 'client credentials flow' means?