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OAuth2AuthorizationEndpointFilter is configured with the following defaults:
...
AuthenticationManager — An AuthenticationManager composed of OAuth2AuthorizationCodeRequestAuthenticationProvider and OAuth2AuthorizationConsentAuthenticationProvider.
However I see that in the most recent version of Spring Authorization Server 1.5.1 authenticationManager for all filters is populated using the same object obtained by httpSecurity.getSharedObject(AuthenticationManager.class). See source code