I have a ASP.NET Core 3.1 project like this sample: Sign-in a user with the Microsoft Identity Platform in a WPF Desktop application and call an ASP.NET Core Web API.
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The reason is that your are making request with default scope scope=api%3A%2F%2{client_id}%2F.default
which doesn't include scope claim in the access_token you should use specific scope that you are registered for your ASP.NET Core 3.1 API project when you have exposing that API in the Azure Portal.