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To make it more fun, I'm using Kafka in KRaft mode (so without Zookeeper) based on this example running in Docker provided by Confluent.
Here, we're keeping it simple as the use case is to make an application to application authentication. So I'm using only client id and client secret. In order to make it as light as possible, the authorization server is Auth0, a fully managed service with a free tier. To set it up, I recommend reading the section Backend/API of the documentation. Kafka is part of the listed backend, but the Configure Auth0 APIs paragraph of any kind of backend fits for this PoC. You can feel free to opt for any other authentication provider as the standard is open and there are multiple implementation alternatives, self-managed as well as as-a-service.
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