Recomendations for a javascript frontend library that can authenticate against Doorkeeper/oAuth OpenID using PKCE

Pretty much as the title says.. I am looking for a javascript library that can authenticate against Doorkeeper.
We currently have a really old in-house authentication process and migrating to build a brand new federation Idp system that is built around devise/doorkeeper.

all our front ends spa's need to migrate to use doorkeeper/openid using PKCE. the issue is
we have tried the following libraries to limited success
@azure/msal-browser can't use this because the authority URL has to be https so cant be used in development without hassle.
@auth0/auth0-spa-js works against auth0 but its a pain to get it to work against doorkeeper as they uses no standard oauth standard routes creating custom routes in rails alsmost works.

any one know of any great libraries that you use that work really well against doorkeeper using PKCE auth code flow?

@RobertMills, thanks.. I took a look at Okta and found it just was a pain to work with.. some things wont let you changes.

We ended up using the oidc-client-ts npm module and created a wrapper OauthClient class to do all the work.