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Spec the v2 IS auth APIs #2255
The MSC does say that, although I would argue here that if a client supplies id_server but not id_access_token, it is respecting r0.5 and not r0.6. Just because the spec mandates that a parameter must be supplied, doesn't mean a server must also mandate it: the server can allow it to be optional in order to be compatible with both r0.5 and r0.6.