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The folks at Stytch put together a really nice explainer website about it too! cimd.dev
cimd.devCIMD - OAuth Client ID Metadata DocumentsLearn about Client ID Metadata Documents (CIMD) - a new OAuth approach that lets clients identify themselves using URLs instead of preregistration. Presented by Stytch.
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I should also importantly note that the concept of Clients identifying themselves with a URL came from Solid OIDC originally: solidproject.org/TR/oidc#clie... We just lifted this concept up to be an OAuth RFC-track document and refined it.
I mean it was a big mix of things really. Most recently the JSON document idea came from there, but "client IDs as URLs" has been part of IndieAuth since 2015 web.archive.org/web/20150315... and OpenID Federation since 2016 openid.net/specs/openid...