Regardless, the last time I dug into this topic I ended up feeling the same. The web is littered with articles that scratch the surface and only cover the basics. They often leave out the details, which IME ended up making things more difficult to understand. What was the most helpful, as you said, was to follow the RFCs and the OIDC spec directly.
What might also be useful, if you are implementing an auth server, is to look at existing implementations. Duende IdentityServer (https://github.com/DuendeSoftware/products/tree/main/identit...) is the most widely-used one in the .NET space.
And OAuth has somehow managed to be _harder_ to integrate with an existing implementation of than just to implement from scratch.
I still used Spring Sessions though, where a successfull authed user got a new Spring Session. The reason was that I liked the idea of having beans with session scope, for example where each user/role has access to a specific database schema.
Like OP was writing, if you are looking at implementing an authorization server, this is not very useful. Even if you are a developer looking to understand how to get authorized to interact with a resource server or authenticate a user, I'd argue that this is not enough. The author clarifies that in the conclusion, but then it's essentially the reader who has to figure out what details are missing and where to get them.