Radio Frequency Identification (RFID) is a prominent technology within the Internet of Things (IoT) ecosystem, offering efficient and reliable object identification in various domains, including business, healthcare, and manufacturing. The security of RFID systems is of paramount importance, and recent authentication protocols have been developed to address these security concerns. In this survey paper, we explore and evaluate the latest authentication protocols designed to enhance security in RFID communications, primarily concentrating on the interaction between RFID readers and tags. We critically assess contemporary lightweight RFID authentication protocols, considering aspects such as security requirements, computational efficiency, and resilience against potential attacks. However, with the advent of quantum computing, these protocols are under scrutiny for their vulnerability. As a result, we emphasize the need for researchers to shift their focus toward post-quantum cryptography solutions to bolster the security of RFID systems. This paper serves as a comprehensive overview of recent developments in RFID authentication, shedding light on the pressing need for quantum-resistant security measures in this field.