When it comes to authentication the Drupal GraphQL module is very much independent of what kind of authentication system or technique you use, as long as in the end you are able to send a token via the Authorization header.
Drupal has some modules for doing decoupled authentiation using tokens :
To authenticated a graphql request with Drupal you need to attach the token you get with those modules as a Bearer in the Authorization header. Here is how that can look like when doing a fetch call :