Just wanted to add my findings to this as I was also curious to get
user/group mapping to work without the need of a Kerberos server.

However, what I saw especially in comments and documentation from
upstream is that this was never designed to work that way. Instead, the
idmapper only works in the way I expected (sending username@realm
instead of UID) when GSS auth is being configured on the NFS server side
which (currently) requires that you have a Kerberos server that manages
the authentication tickets for both, the server and the client and
serves as the trusting third party, so conceptually a little bit similar
to the extra authentication services we usually see around the net.

If that is not available to you I am afraid you are stuck with the old
auth_sys, which means sticking to same UIDs/GIDs on server and clients.

In the end I have to say that this is quite inflexibly designed and by
design excludes home setups where a separate authentication party is not
desirable, without any secure alternative.

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https://bugs.launchpad.net/bugs/966734

Title:
  nfs4+idmap does not map uids correctly when using AUTH_SYS

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