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

I've had this error and the issue turned out to be the 
AIRFLOW__CORE__EXECUTION_API_SERVER_URL not being set to the correct port (by 
default it doesn't respect the AIRFLOW__API__PORT variable). This is however 
not the case for you, in your case it's most likely that the secrets between 
processes aren't shared. 

The secret variables to share are:
```
"AIRFLOW__API_AUTH__JWT_SECRET
"AIRFLOW__CORE__FERNET_KEY
"AIRFLOW__CORE__INTERNAL_API_SECRET_KEY"
"AIRFLOW__API__SECRET_KEY"
```
you can take the values for these from an example airflow.cfg file or share the 
file between containers.

GitHub link: 
https://github.com/apache/airflow/discussions/62057#discussioncomment-15953779

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