feat(jwt): replace jwt module

[ecktom]

A while ago we switched this project to use github.com/form3tech-oss/jwt-go as github.com/dgrijalva/jwt-go wasn't maintained anymore (#635).
In the meantime the open source community came up with a new repository to combine the efforts of maintaining a jwt module.
Based on https://github.com/golang-jwt/jwt/blob/main/MIGRATION_GUIDE.md the v4 should be fully backwards compatible so that I don't expect any issues to pop up. This PR will also fix #691 as support was recently added in golang-jwt/jwt#36

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[aeneasr]

Thank you! Looks like there are some compile issues, could you please take a look?

[codecov]

Codecov Report

Merging #818 (238c117) into master (0dcd1f5) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master     #818   +/-   ##
=======================================
  Coverage   62.37%   62.37%           
=======================================
  Files         102      102           
  Lines        4787     4787           
=======================================
  Hits         2986     2986           
  Misses       1528     1528           
  Partials      273      273           

Impacted Files	Coverage Δ
credentials/signer_default.go	63.26% <ø> (ø)
credentials/verifier_default.go	79.76% <ø> (ø)
pipeline/authn/authenticator_jwt.go	82.45% <ø> (ø)
pipeline/mutate/mutator_id_token.go	81.25% <ø> (ø)

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[ecktom]

Thank you! Looks like there are some compile issues, could you please take a look?

Turns out that auth0/go-jwt-middleware which is used in the e2e tests is not yet compatible with the new module. See also:
auth0/go-jwt-middleware#95
auth0/go-jwt-middleware#96

[aeneasr]

Awesome, thank you! 🎉 Your contribution makes Ory better :)