spring boot OAuth resource server JWT AudienceValidator 401 message empty

Question

I'm using the Spring Boot OAuth Resource Server (JOSE) in order to validate the JWT from Auth0. The flow is running fine except when I check the audience claim from JWT, if it's fail the 401 response status is return, but the message body is empty.

I customised the exceptionHandling to send a message body and it works fine using authenticationEntryPoint and accessDeniedHandler, but these handlings were not trigged for OAuth2TokenValidator.

I just want to receive the 401 and my customized message body for 401 when the audience validation error occurs.

Here is the code that I used:

public static class AudienceValidator implements OAuth2TokenValidator<Jwt> {
    private Logger logger = LoggerFactory.getLogger(AudienceValidator.class);
    private final String audience;
    OAuth2Error error = new OAuth2Error("invalid_token", "The required audience is missing", null);
    public AudienceValidator(String audience) {
        this.audience = audience;
    }    
    public OAuth2TokenValidatorResult validate(Jwt jwt) {
        logger.debug("validating audience: " + jwt.getAudience());
        if (jwt.getAudience().contains(audience)) {
            logger.debug("audience success");
            return OAuth2TokenValidatorResult.success();
        } else {
            logger.debug("invalid audience");
            return OAuth2TokenValidatorResult.failure(error);
        }
    }
}

@Override
protected void configure(HttpSecurity http) throws Exception {  
        http
        .cors().and()
            .oauth2ResourceServer(oauth2 -> oauth2
                    .jwt(jwt -> jwt
                        .jwtAuthenticationConverter(grantedAuthoritiesExtractor())
                    )
                );
        logger.debug("authenticatedOnly:"+authenticatedOnly);
        if (authenticatedOnly) http.authorizeRequests().anyRequest().authenticated();
        else http.authorizeRequests().anyRequest().permitAll();

       http
       .exceptionHandling()
        .authenticationEntryPoint((request, response, e) -> {
            response.setStatus(HttpStatus.UNAUTHORIZED.value());
            response.setContentType("application/json");
            response.getWriter().write("{\"status\":401,\"error\":\"You are not authenticated.\",\"message\":\"\"}");
        })
        .accessDeniedHandler((request, response, e) -> {
            response.setStatus(HttpStatus.FORBIDDEN.value());
            response.setContentType("application/json");
            response.getWriter().write("{\"status\":403,\"error\":\"You are not authorized.\",\"message\":\"\"}");
        })
        ;
}