> As a non-web person,
Yes, indeed.
> I find everything related to this auth business needlessly complicated and arbitrarily limited.
You find a subject you do no understand or were bothered to learn about to be needlessly complicated and arbitrarily limited?
> Most of the time it's not even implemented correctly anyway (many application not checking the JWT audience...) because web devs (...)
You seem to be very opinionated over things you clearly know nothing about.
Among the many ways you manifested your cluelessness, OAuth is not a "web dev" thing. It's a "software communicating over a network" thing. Desktop apps must support it, so do mobile apps, and web services need to support it both as client apps and resource services.
Also, to drive home your clueless ignorance, "checking the JWT audience" is not a authentication thing, which is the responsibility of OAuth. The full name of OAuth2 is "OAuth 2.0 Authorization Framework". It covers delegating authorization to third parties so that clients can access a user's claims. Claims are not authorization either.
In the end you were awfully critical of something you don't even know what is?
> (...) just use libraries without understand what actually provides the security.
I think you should take a step back and meditate over your post. It says nothing about OAuth, and everything about how little understanding you have over OAuth and how vocal you are on a topic you know next to nothing.