Right now, CircleCI has released support for OIDC at the job-level:

However, existing AWS or GCP Orbs do not currently support OIDC tokens.

Customers can still use OIDC tokens to generate short-lived credentials, and operate with their AWS or GCP services through this without the Orbs

However, for convenience of the customer, it would be great if our AWS or GCP Orbs are updated to extend support for customers wanting to use OIDC.