Earlier quoted context omitted.
Exactly, all of the reasons bearer tokens might be awful are essentially self inflicted pain. Simple suggestion: don't do that and do it right instead. It's an opaque blob, by design. Which means it could be anything. Including something bearing useful information that you can verify in a sane way. In our case, we use JWT tokens that contain a few claims, are signed, have an expiration token, etc. Not awful at all. V…
And if I compromise a system that possesses one of those JWTs, I can copy it elsewhere and have access to all the resources that JWT grants me access to. You're not tying it to a specific device, and you're not providing a mechanism to verify the device state when making the access decision.
If your require these things, do them. If you don't, then don't.