As discussed under #12 there is now a mechanism that allows clients to state what options they support.
However there is no way (when using automatic registration at the authorization endpoint) for the client+server to reach agreement on which method will actually be used.
e.g. if the client supports both private_key_jwt and mtls, and the server also supports both, as client that has done automatic registration at the authorization endpoint has no idea if it should send private_key_jwt or mtls to the token endpoint.
Removing automatic registration from the authorization endpoint and hence mandating the use of the PAR endpoint would solve this, as the client would be authenticating to the PAR endpoint and hence the server could register the client with the client authentication method it uses to authenticate at the PAR endpoint. There may be other solutions.