Earlier quoted context omitted.
You're right. Doing encryption correctly can be incredibly difficult and complex. Enough so that people might miss important subtleties of the technologies at hand. For instance, you may want the encryption of data-in-transit to be removed by the application, rather than by whatever is responsible for TLS termination. You may not want your load balancer to be capable of reading the most sensitive data of your request…
IDK what the details are there, but if you trust your TLS termination point with most data, it seems like you'd trust it with the JWT payload too.
It's perhaps possible some might differ, especially in a context where limiting trust and misuse-resistance are concerns. Giving people the choice of encrypting or signing or both could seen by some as potentially less than maximally misuse-resistant.