Hi Brett,
So, we have a workaround for now till the created github issue is fixed and oxauth is patched. Seems like it was dependency issue ( tomcat vs. Jetty ) and that's why twilio_sms script wasn't loading properly.
Basically you need to include couple of libraries inside oxauth.war and use that new war to initialize twilio_sms script.
I could provide you the modified 'oxauth.war' but it's 50+ Mb, hard to attach in ticket. If you want, I can share the procedure how you can inject those libraries and create a new oxauth war which you can use to test your twilio.