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Getting claims from IdP's id token


Hi all,
Is there a way of accessing the claims in IdP-issued id_token and adding them to a user profile?

I am using a custom connection and the provider includes a specific claim I need in the id_token only, it is sadly not available in the response from their /userinfo endpoint. I know you can access the IdP’s access_token and refresh_token using the Management API, but I need id_token specifically.