OAuth issue access tokens accepted by multiple resource servers

A client application receives an access token with audience as its clientId. Is it possible that this token is valid for more than one client?
Something like generating a valid token for clientA and also for clientIdB, clientIdC, etc ...?

As the RFC 6749 says:

A single authorization server may issue access tokens accepted by multiple resource servers.

How can we implement this in NAM?

Regards

José Luis