I'm not sure it can be perceived as an issue of Gluu. For example, [oAuth 2.0 Introspection spec](https://tools.ietf.org/html/rfc7662) in its own example of introspection request uses bearer token for authorization: [link](https://tools.ietf.org/html/rfc7662#section-2.1). Though it also allows to use Basic Auth header too.
I also see that `mod_auth_openidc` allows 2 methods of querying the endpoint (per [this doc](https://github.com/pingidentity/mod_auth_openidc/blob/master/auth_openidc.conf))
# Authentication method for the OAuth 2.0 Authorization Server introspection endpoint,
# Must be either "client_secret_basic" or "client_secret_post"; when not defined "client_secret_basic" is used.
Have you tried to explicitly configure it to use the `client_secret_post` method? Mb it will send Bearer token in that case?
Update:
..though from the context it doesn't seem so, it probably will send the client credentials in the body of POST request this way.
Mb it worth to create an "enhancement" request at Gluu's github asking to add this as a feature in future releases (i.e. using client credentials to authorize introspection request)