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import "github.com/golang-jwt/jwt/v5"

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type myClaims struct {
	jwt.RegisteredClaims
	Foo string `json:"foo"`
}

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tok = jwt.NewWithClaims(jwt.SigningMethodHS256, myClaims{
	RegisteredClaims: jwt.RegisteredClaims{
		Issuer:    "svc",
		Subject:   "user_id",
		Audience:  jwt.ClaimStrings{"srv"},
		ExpiresAt: jwt.NewNumericDate(time.Now().Add(time.Second * 2)),
		NotBefore: jwt.NewNumericDate(time.Now().Add(time.Second)),
		IssuedAt:  jwt.NewNumericDate(time.Now()),
		ID:        "id",
	},
	Foo: "bar",
})

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s, err := tok.SignedString(key)
if err != nil {
	panic(err)
}

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parsedTok, err := jwt.Parse(s, func(token *jwt.Token) (interface{}, error) {
	if _, ok := token.Method.(*jwt.SigningMethodHMAC); !ok {
		return nil, jwt.ErrInvalidKey
	}
	if token.Method.Alg() != jwt.SigningMethodHS256.Alg() {
		return nil, jwt.ErrInvalidKey
	}

	return key, nil
})
if err != nil {
	panic(err)
}