I was reading the documentation on the Auth0 site regarding Refresh Tokens and SPA, and they state that SPA's should not use Refresh Tokens as they cannot be securely stored in a browser, and instead use Silent Authentication instead to retrieve new Access Tokens.
A Single Page Application (normally implementing Implicit Grant) should not under any circumstances get a Refresh Token. The reason for that is the sensitivity of this piece of information. You can think of it as user credentials, since a Refresh Token allows a user to remain authenticated essentially forever. Therefore you cannot have this information in a browser, it must be stored securely.
I'm confused. From my understanding, the only way to retrieve a new access token would be to submit a new request to the Auth server, along with some form of an Auth0 session cookie to authenticate the user that is logged in. Upon receiving the session cookie the Auth0 server would then be able to issue a new Access Token.
But how is that any different than having a Refresh Token in the browser or in the local storage? What makes the Session Cookie any more secure than a Refresh Token? Why is using a Refresh Token in an SPA a bad thing?
There are a lot of misunderstandings about both cookies and refresh tokens and OAuth2.
First, it is not true that only confidential clients can use a refresh token. The OAuth2 protocol says that confidential clients must authenticate, but does not require confidential clients. Ergo, client authentication is optional on the refresh operation. See RFC 6749, Section 6, Refreshing An Access Token.
Second, you have to understand what the alternatives are:
Everybody in the world, who doesn't use refresh tokens, uses option #3. Authentication via cookies is functionally and security-wise 100% equivalent to storing a refresh token. Of course, with both tokens and cookies, there are options for where they are kept:
a. HTTP only, b. secure (require TLS/SSL) and c. session (in memory) vs. persistent (local, domain storage)
The "HTTP only" option applies only to cookies and, thus, may represent the only advantage of using cookies over tokens. I.e. tokens are handled via Javascript, so there's no option to keep them away from scripts. That said, the tokens are available only to Javascript from the domain of the page that stored it (or as allowed by CORS policy). So this issue can be overblown.
Of course, care must be taken to always use TLS/SSL to transmit either authentication cookies or tokens. Honestly, since we know most breaches occur from within the private corporate network, end-to-end TLS is a basic requirement anymore.
Finally, whether cookies or tokens are ever persisted, i.e. stored somewhere that survives closing the browser or even rebooting the device, depends on the trade-off you're making between usability and security - for your application.
For applications that require a higher level of security, just keep everything in memory (i.e. session cookies, tokens in a Javascript variable). But for apps that don't require as much security and really want a session life on order of days or weeks, then you need to store them. Either way, that storage is accessible only to pages and scripts from the original domain and, thus, cookies and tokens are functionally equivalent.