Apparently, at_hash value for JWT token is improperly calculated – instead of using base64url it's using base64 function. I encountered this issue when I tried to integrate OIDC using express-openid-connect library and openid-client – a certified library for node.js.
Please see the details here: auth0/express-openid-connect#382
I re-checked it using fiware/idm:latest docker image – the problem still persists.