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Replace UnauthorizedRequestError with InvalidRequestError #69

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@Uzlopak

Description

The UnauthorizedRequestError is not a standard error code. According to the reference in the comment https://datatracker.ietf.org/doc/html/rfc6750#section-3.1 there is no unauthorized_request error.

UnauthorizedRequestError is used in the AuthenticateHandler for indicating that there was no token in body and header.
According to the Spec it should be an InvalidRequestError, as the token is clearly a missing parameter.

The request is missing a required parameter, includes an
unsupported parameter or parameter value, repeats the same
parameter, uses more than one method for including an access
token, or is otherwise malformed. The resource server SHOULD
respond with the HTTP 400 (Bad Request) status code.

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