Auth0 as OpenID SSO provider to 3rd party application

We have a customer that uses Auth0 as their identity provider.
We would like to integrate with Auth0 to allow the customer to login using their Auth0 users into our application.
We support OpenID connect SSO in our application (and have integration with Okta OIDC app).
How can we do this? Do we need to register for the partnership program?
Is it possible to do it with OIDC or only SAML?