I believe this has been mentioned in comment #757 (comment), but nevertheless decided to open an issue for visibility.
BIP340 https://github.com/bitcoin/bips/blob/master/bip-0340.mediawiki#default-signing clearly says auxRand
should always be used even if it’s all-zero. It also provides exact algorithm to calculate nonce from it.
Right now, libsecp256k1, when auxRand was not passed, uses its own nonce generation algorithm.
It would be good to make the library follow specification.