I have created an Auth0 client, I am logging in and receive this token:
eyJ0eXAiOiJKV1QiLCJhbGciOiJSUzI1NiIsImtpZCI6Ik1rVkdOa1l5T1VaQ1JqTkRSVE5EUmtNeU5rVkROMEUyU
You need to change the third parameter of your verify method which is
{algorithm: 'RS256'} to ==>{algorithms: 'RS256'}
and make sure you write the correct name for the algorithm, It will work fine