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I would argue that in particular with public key crypto, the duplicate parsing overhead is insignificant, but you are right: decode() could support passing a dict with key ids.
I would suggest to allow a list or dict also as the key argument:
for a dict and jwt containing a kid, use the corresponding key
decoding and verifying JWT token with kid need token to be loaded and parsed twice. First to get headers and thereafter to verify signature.
Does it possible to eliminate unnecessary second parsing?
For example google-auth does not have such problem
https://github.com/googleapis/google-auth-library-python/blob/2c6ad78917e936f38f87c946209c8031166dc96e/google/auth/jwt.py#L197
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