Read more about OpenID Connect Authentication for Kubernetes here: <https://kubernetes.io/docs/reference/access-authn-authz/authentication/#openid-connect-tokens>
Configuration values can be passed to the API server using the `--extra-config` flag on the `minikube start` command. See [configuring_kubernetes.md](https://github.com/kubernetes/minikube/blob/master/docs/configuring_kubernetes.md) for more details.
You can use the kubectl `oidc` authenticator to create a kubeconfig as shown in the Kubernetes docs: <https://kubernetes.io/docs/reference/access-authn-authz/authentication/#option-1-oidc-authenticator>
For the new context to work you will need to create, at the very minimum, a `Role` and a `RoleBinding` in your cluster to grant permissions to the `subjects` included in your `oidc-username-claim`.