> Is the intent of this change to workaround this by having the client only
attempt PKCE when the AS advertises that it supports 2.1? I feel like this
will only result in a net reduction of use of PKCE — at least until 2.1
support in servers becomes very widespread.

No.

> Can you clarify if that is the problem this change is intended to address?

We are solving how protocol version support is handled in automatic client
registration.

The AS metadata advertises that the AS supports OAuth 2.1 -- nothing more

The client metadata informs the AS that the client will conform to OAuth
2.1. An AS that only supports 2.1 may reject registration of a client that
does not support 2.1.

An AS that supports both 2.0 and 2.1 MUST track which clients are 2.1
compliant, and will enforce 2.1 for those clients.

An AS that only supports 2.1 will enforce 2.1 for all clients.

An existing AS does nothing new. Existing clients do nothing new.
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