Minting access tokens

I am currently authenticating users based a 3rd party token passed to my backend. I am creating a supabase user for each user that logs in and I want the client to be able to subscribe to a table that uses RLS so the client needs to authenticate with supabase using setSession().

If I mint my own JWT using legacy jwt signing key, will this jwt be accepted by supabase to authenticate the user? If so, what needs to be included?

Or if this is not possible can you help me find a solution to create a session for a user on the backend and pass access token to client.
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