Bearer Token in url is not parsed by route
Finally after spending few days doing debugging and searching I noticed that the error was due to my Nginx configuration , this configuration from Nginx website was what solved the problem for me:
server {
    server_name example.com;
    root /var/www/drupal/MYSITE/web;

    location = /favicon.ico {
      log_not_found off;
      access_log off;
    }

    location = /robots.txt {
      allow all;
      log_not_found off;
      access_log off;
    }

    # Very rarely should these ever be accessed outside of your lan
    location ~* \.(txt|log)$ {
      allow 192.168.0.0/16;
      deny all;
    }

    location ~ \..*/.*\.php$ {
      return 403;
    }

    location ~ ^/sites/.*/private/ {
      return 403;
    }

    # Block access to scripts in site files directory
    location ~ ^/sites/[^/]+/files/.*\.php$ {
      deny all;
    }

    # Allow &quot;Well-Known URIs&quot; as per RFC 5785
    location ~* ^/.well-known/ {
      allow all;
    }

    # Block access to &quot;hidden&quot; files and directories whose names begin with a
    # period. This includes directories used by version control systems such
    # as Subversion or Git to store control files.
    location ~ (^|/)\. {
      return 403;
    }

    location / {
      try_files $uri /index.php?$query_string;
    }

    location @rewrite {
      rewrite ^ /index.php;
    }

    # Don't allow direct access to PHP files in the vendor directory.
    location ~ /vendor/.*\.php$ {
      deny all;
      return 404;
    }

    # Protect files and directories from prying eyes.
    location ~* \. 
    (engine|inc|install|make|module|profile|po|sh|.*sql|theme|twig|tpl(\.php)? 
    |xtmpl|yml)(~|\.sw[op]|\.bak|\.orig|\.save)?$|/(\.(?!well- 
    known).*|Entries.*|Repository|Root|Tag|Template|composer\. 
    (json|lock)|web\.config)$|/#.*#$|\.php(~|\.sw[op]|\.bak|\.orig|\.save)$ {
      deny all;
      return 404;
    }

    # In Drupal 8, we must also match new paths where the '.php' appears in
    # the middle, such as update.php/selection. The rule we use is strict,
    # and only allows this pattern with the update.php front controller.
    # This allows legacy path aliases in the form of
    # blog/index.php/legacy-path to continue to route to Drupal nodes. If
    # you do not have any paths like that, then you might prefer to use a
    # laxer rule, such as:
    #   location ~ \.php(/|$) {
    # The laxer rule will continue to work if Drupal uses this new URL
    # pattern with front controllers other than update.php in a future
    # release.
    location ~ '\.php$|^/update.php' {
      fastcgi_split_path_info ^(.+?\.php)(|/.*)$;
      # Ensure the php file exists. Mitigates CVE-2019-11043
      try_files $fastcgi_script_name =404;
      # Security note: If you're running a version of PHP older than the
      # latest 5.3, you should have &quot;cgi.fix_pathinfo = 0;&quot; in php.ini.
      # See http://serverfault.com/q/627903/94922 for details.
      include fastcgi_params;
      # Block httpoxy attacks. See https://httpoxy.org/.
      fastcgi_param HTTP_PROXY &quot;&quot;;
      fastcgi_param SCRIPT_FILENAME $document_root$fastcgi_script_name;
      fastcgi_param PATH_INFO $fastcgi_path_info;
      fastcgi_param QUERY_STRING $query_string;
      fastcgi_intercept_errors on;
      # PHP 5 socket location.
      #fastcgi_pass unix:/var/run/php5-fpm.sock;
      # PHP 7 socket location.
      fastcgi_pass unix:/var/run/php/php7.4-fpm.sock;
    }

    location ~* \.(js|css|png|jpg|jpeg|gif|ico|svg)$ {
      try_files $uri @rewrite;
      expires max;
      log_not_found off;
    }

    # Fighting with Styles? This little gem is amazing.
    location ~ ^/sites/.*/files/styles/ {
      try_files $uri @rewrite;
    }

    # Handle private files through Drupal. Private file's path can come
    # with a language prefix.
    location ~ ^(/[a-z\-]+)?/system/files/ {
      try_files $uri /index.php?$query_string;
    }

    # Enforce clean URLs
    # Removes index.php from urls like www.example.com/index.php/my-page --&gt; 
    www.example.com/my-page
    # Could be done with 301 for permanent or other redirect codes.
    if ($request_uri ~* &quot;^(.*/)index\.php/(.*)&quot;) {
      return 307 $1$2;
    }
}