I tried to reproduce the same in my environment via Postman and got below results:
I registered one SPA application and added SharePoint API permissions like below:

I generated access token via Postman with below parameters:
POST https://login.microsoftonline.com/<tenantID>/oauth2/v2.0/token
client_id:appID
grant_type:authorization_code
scope: https://mytenant.sharepoint.com/.default
code:code
redirect_uri: https://jwt.ms
code_verifier:S256
Response:

When I decoded the token, it has SharePoint
as audience and scp
claim as below:

I got the same error as you when I used above token to call SharePoint from below graph API call:
GET https://graph.microsoft.com/v1.0/sites/<siteID>/lists
Response:

To resolve the error, assign Microsoft Graph API permissions for SharePoint like below:

Now, generate the access token again by changing the scope to https://graph.microsoft.com/.default
as suggested by @Carl Zhao like below:
POST https://login.microsoftonline.com/<tenantID>/oauth2/v2.0/token
client_id:appID
grant_type:authorization_code
scope: https://graph.microsoft.com/.default
code:code
redirect_uri: https://jwt.ms
code_verifier:S256
Response:

When I decoded the above token, I got Microsoft Graph as audience and scp
claims are as below:

When I used above token to call SharePoint site lists from below graph API call, I got the results successfully like below:
GET https://graph.microsoft.com/v1.0/sites/<siteID>/lists
Response:

Note that, your token audience should be https://graph.microsoft.com while making graph calls and scp
claim should contain Microsoft graph permissions.