The typical way to do MCP OAuth is with traditional up-front registered clients. However, in practice a lot of MCP clients work with an assumption that DCR works, and as you point out don't offer an option to specify a client ID.
However, some clients do support that (ad: our tool Erato does[0]), and the typical solutions deployed in enterprises do, where MCP access is usually centralized via a web UI like ours. One alternative that also exists is are MCP gateways, which do pre-registred oauth between the gateway and service, and allow for DCR between the gateway and clients.
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