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At the moment if you do not configure jwt() (or opaqueToken() on the master branch) the configurer will throw an IllegalStateException.
However, all that is needed to support another format is to add an AuthenticationProvider supporting BearerTokenAuthenticationToken. Because the configurer throws, it forces you to manually configure everything else yourself as well.
Instead, it should either allow setting a specific provider, or warn instead of throwing if it cannot configure one.