OAuth 2.0 defines a protocol, i.e. specifies how tokens are transferred, JWT defines a token format.
OAuth 2.0 and "JWT authentication" have similar appearance when it comes to the (2nd) stage where the Client presents the token to the Resource Server: the token is passed in a header.
But "JWT authentication" is not a standard and does not specify how the Client obtains the token in the first place (the 1st stage). That is where the perceived complexity of OAuth comes from: it also defines various ways in which the Client can obtain an access token from something that is called an Authorization Server.
So the real difference is that JWT is just a token format, OAuth 2.0 is a protocol (that may use a JWT as a token format).