The big problem here is that none of this matters. People do abuse OIDC as a general-purpose token for individual applications, but almost nobody does that with SAML. The point of these schemes is to federate authentication. In other words: it only matters what Okta and Google will agree to do. Your options are OIDC or SAML.
If you had to pick between the two, I guess you should pick OIDC, and think about what Ryan Sleevi said downthread about certificate verification; you'll want some kind of pinning scheme (pinning is a mess in client-server situations, but still sane in server-server applications; in fact, server-server pinning long predates browser public key pinning).
If you're not federating authentication, I don't think you should use JSON tokens of any sort.
(I like PASETO instead of JWT, but nobody else in the world does, it seems, so we're stuck with the broken thing forever. Client libraries at least special-case "none" now and make it auto-fail, which has probably saved a few people that didn't actually read the spec.)