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According to the docs, these are the required permissions:
clientauthconfig.brands.listclientauthconfig.brands.createclientauthconfig.brands.getclientauthconfig.clients.createclientauthconfig.clients.listWithSecretsclientauthconfig.clients.getWithSecretclientauthconfig.clients.deleteclientauthconfig.clients.update
Create OAuth brand and client
# Create a brand
gcloud iap oauth-brands list
gcloud iap oauth-brands create --application_title=APPLICATION_TITLE --support_email=SUPPORT_EMAIL
# Create a client of the brand
gcloud iap oauth-clients create projects/PROJECT_NUMBER/brands/BRAND-ID --display_name=NAME{{#include ../../../banners/hacktricks-training.md}}