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chore: migrate to golang-jwt v5 and update token error handling (#348)
- Upgrade github.com/golang-jwt/jwt dependency from v4 to v5
- Update token expiration error handling to use new v5 error types
- Add logging for tokens with invalid claims
- Adjust test assertions to match updated error messages from jwt v5
- Improve handling of JWT exp claim errors, distinguishing between expired, missing, and invalid type cases
- Ensure ParseOptions always include WithTimeFunc for correct time validation
- Fix typo in exp claim comment
- Add a check for missing exp claim for backwards compatibility
- Update tests to verify correct error messages and status codes for missing or invalid exp claims
- Add new tests for required exp claim and invalid exp format scenarios
fixed: #332
Co-Author: @gblandinkingland
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