Configuration problem with latest expressive skeleton, HTTP 500

I'm very new in zend-expressive and used the skeleton app as entry point. Now I want to protect my API using zend-expressive-authentication-oauth2 and have some problems to get it working. The system is PHP 7.2 (Debian) and all packages installed via composer in the latest versions.
I followed the instructions to install and configure the module: I created the *.key files under data/oauth, used the SQL script to create the database tables and made the modifications in the app configs.
What happens is that I get an HTTP 500 error if I call the following URL in a browser:

example.com/api/ping

And the same if I post client credentials to the URL:

example.com/oauth2/token

So I guess there's something wrong with the configuration. Unfortunately the error page displays no concrete error message so debugging is quite difficult. But I try to show my files so exact as possible.

config/config.php

$aggregator = new ConfigAggregator([
    \Zend\Expressive\Authentication\ConfigProvider::class,
    // ...
    MyProject\Api\ConfigProvider::class,
    new PhpFileProvider(realpath(__DIR__) . '/autoload/{{,*.}global,{,*.}local}.php'),
], $cacheConfig['config_cache_path']);

config/autoload/dependencies.global.php

<?php

declare(strict_types=1);

use Zend\Expressive\Authentication;

return [
    'dependencies' => [
        'aliases' => [
            Authentication\AuthenticationInterface::class => Authentication\OAuth2\OAuth2Adapter::class,
        ],
        'invokables' => [
        ],
        'factories'  => [
        ],
    ],
];

config/autoload/oauth2.global.php

<?php

declare(strict_types=1);

use League\OAuth2\Server\Grant;

return [
    'private_key' => dirname(__DIR__) . '/../data/oauth/private.key',
    'public_key' => dirname(__DIR__) . '/../data/oauth/public.key',
    'encryption_key' => require dirname(__DIR__) . '/../data/oauth/encryption.key',

    'access_token_expire' => 'P1D',
    'refresh_token_expire' => 'P1M',
    'auth_code_expire' => 'PT10M',

    'pdo' => [
        'dsn' => sprintf(
            'mysql:dbname=%s;host=%s',
            false !== getenv('MYSQL_DB_NAME') ? getenv('MYSQL_DB_NAME') : '',
            false !== getenv('MYSQL_DB_HOST') ? getenv('MYSQL_DB_HOST') : ''
        ),
        'username' => false !== getenv('MYSQL_DB_USER') ? getenv('MYSQL_DB_USER') : '',
        'password' => false !== getenv('MYSQL_DB_PASS') ? getenv('MYSQL_DB_PASS') : '',
    ],

    'grants' => [
        Grant\ClientCredentialsGrant::class => Grant\ClientCredentialsGrant::class,
        Grant\PasswordGrant::class => Grant\PasswordGrant::class,
        Grant\AuthCodeGrant::class => Grant\AuthCodeGrant::class,
        Grant\ImplicitGrant::class => Grant\ImplicitGrant::class,
        Grant\RefreshTokenGrant::class => Grant\RefreshTokenGrant::class,
    ],
];

config/autoload/pipeline.php

No modifications.

config/routes.php

<?php

declare(strict_types=1);

use MyProject\Api\Handler\HomePageHandler;
use MyProject\Api\Handler\PingHandler;
use Psr\Container\ContainerInterface;
use Zend\Expressive\Application;
use Zend\Expressive\Authentication\AuthenticationMiddleware;
use Zend\Expressive\Authentication\OAuth2\TokenEndpointHandler;
use Zend\Expressive\MiddlewareFactory;

return function (Application $app, MiddlewareFactory $factory, ContainerInterface $container) : void {
    $app->post('/oauth2/token', TokenEndpointHandler::class);

    $app->get('/', HomePageHandler::class, 'home');
    $app->get('/api/ping', [
        AuthenticationMiddleware::class,
        PingHandler::class,
    ], 'api.ping');
};

[ ] I was not able to find an open or closed issue matching what I'm seeing.
[ ] This is not a question. (Questions should be asked on slack (Signup for Slack here) or our forums.)

Provide a narrative description of what you are trying to accomplish.

zendframework / zend-expressive-authentication-oauth2