GitHub user MachSilva added a comment to the discussion: [Airflow 3.1.7] Task 
execution fails with "Invalid auth token" using LocalExecutor and Task SDK

Try setting 
[AIRFLOW__API_AUTH__JWT_SECRET](https://airflow.apache.org/docs/apache-airflow/stable/configurations-ref.html#jwt-secret).
 Note the section `api_auth`

I had a similar issue. In my case, I solved by setting proper ownership of 
`airflow.cfg`.

GitHub link: 
https://github.com/apache/airflow/discussions/62057#discussioncomment-15881221

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