Unauthenticated error="rpc error: code = Unauthenticated desc = authentication failed: jwt parse error: token contains an invalid number of segments

Are you using a proxy? It looks like there is an issue with the forwarding of the JWT tokens in the WebSocket request to the ChirpStack Application Server.

It might be related to this: Rpc error: code = Unauthenticated and Live Frame Logs / Live Event Disconnected - #9 by brocaar (I posted a possible solution using NGINX).