RFC 6749 does not contain any to verify tokens are usable for authentication, and is insecure (and has been exploited) when used for authentication on its own.
You have extensions like Facebook Connect or OpenID Connect which add on the additional technology and client steps to allow it to be used securely for authentication.
The title is wrong because those involved in the standardization of OAuth 2.0 have yelled from the very beginning not to use it for authentication, but instead use something that builds authentication on top of it.
100% agree that you should not roll your own. There are lots and lots of options out there with different strengths and weaknesses. Determine what you need and then find the right solution (which may be hydra or something else).