Deep Linking with SSO

I face a challenge with lot of clients requesting this functionality of Deeplink with SSO.

After the Mobile app user authenticates, if he moves to another web application (using a deeplink) within the same mobile. The deep link directs the user (or the user’s request) back to the IdP, which recognizes the user’s existing session. Since the user is already authenticated, the IdP immediately redirects back to the target application with the necessary tokens, without requiring the user to enter their credentials again.

Is there a solution to this in Auth0 or can anyone help me to understand how we can achieve this?