jwt_auth_no_auth_header for valid tokens can happen
I ran into this issue and found someone who solved it by changing the library code. I came here to check whether he had added an issue, and it seems not. The problem in question and the solution is detailed by that author: https://stackoverflow.com/questions/44322866/jwt-auth-no-auth-header-error-on-validating-wordpress-rest-api-jwt-token
Hmm alright I see.. So essentially add a secondary check for the Authorization header key if none is found with the default HTTP_AUTHORIZATION..
Seems a valid approach tbh. You could actually also just set the SIMPLE_JWT_AUTHENTICATION_HEADER_NAME global yourself to Authorization and it'd work. In your wp-config.php:
define( ' SIMPLE_JWT_AUTHENTICATION_HEADER_NAME', 'Authorization' );
I believe that would work but I haven't tried it myself.