How to access sharepoint pages by authenticate using ADFS token - powershell or c# - On Premises

Question

Hello,
I have a requirement to warmup my SharePoint sites using PowerShell. My PowerShell script was running good the way of authentication using FEDAuth cookie using Invoke-webrequest & response. Now ADFS implemented their new changes (Self service way of authentication using access token)

Now recommended to get the ADFS token using client ID, secret key, resource Uri, etc and to get authenticate to SharePoint pages. I have the token (bearer) and tried to use it to get authenticated but getting 401 un authorized access.

Can anyone please suggest how to implement my warmup script in SharePoint 2016 On premises environment?

Thanks
Vijaivel S