How to run or call Custom code in extensions/server_connect/routes

I am following a guide over here https://youtu.be/c5OZZsVkOKY on how to integrate Salesforce OAuth 2.0 JWT Bearer Flow for Server-to-Server Integration here but I am not using Heroku, I am using my own server.

My question is, and I know I might missed the memo on how to do this, but what is the process to run custom code from extensions/server_connect/routes? below is a screenshot of the code.

I feel like I should know how to do this but I am having brain freeze.

I also have these two npm packages just like the guide (Salesforce and sf-jwt-token) much thanks to anyone you can help me translate it into Wappler way of writing custom code and run them

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