Bearer token is one or more repetition of alphabet, digit, "-" , "." , "_" , "~" , "+" , "/" followed by 0 or more "=".
RFC 6750 2.1. Authorization Request Header Field (Format is ABNF (Augmented BNF))
The syntax for Bearer credentials is as follows:
b64token = 1*( ALPHA / DIGIT /
"-" / "." / "_" / "~" / "+" / "/" ) *"="
credentials = "Bearer" 1*SP b64token
It looks like Base64 but according to Should the token in the header be base64 encoded?, it is not.
Digging a bit deeper in to "HTTP/1.1, part 7: Authentication"**, however, I see that b64token is just an ABNF syntax definition allowing for characters typically used in base64, base64url, etc.. So the b64token doesn't define any encoding or decoding but rather just defines what characters can be used in the part of the Authorization header that will contain the access token.
This fully addresses the first 3 items in the OP question's list. So I'm extending this answer to address the 4th question, about whether the token must be validated, so @mon feel free to remove or edit:
The authorizer is responsible for accepting or rejecting the http request. If the authorizer says the token is valid, it's up to you to decide what this means: