Allows Customers to manage permissions

I’m building a SaaS/PaaS. One of the things i’m looking for is when a user signs up and creates a project, they can add/invite teammates to make changes and manage permissions for the project. For example user A creates project FOO and wants to invite user B and grants them view along with the ability to configure project FOO. User B after joining creates their own project BAR. User A should only be able to view project FOO but user B can view both FOO and BAR. I have a page to add and remove members from viewing projects.

In the future, I expect some projects to have B2B/enterprise connections and setting up SSO.

How would I add Auth0 to support/authenticate this?