API Error "Auth Config Token claim is required in OAuth2 access token"

I am using the {{ControlRoomURL}}v1/authentication to generate a token.  I am then able to validate the token using the {{ControlRoomURL}}v1/authentication/token?token={{token}} API call and the token returns as valid but then when I use the token in the {{ControlRoomURL}}v1/audit/messages/list call it fails saying Auth Config Token claim is required in OAuth2 access token".  Can anyone tell me why this is happening and how to correct it?