I tested with Chrome earlier and just tried this with Chrome incognito mode and saw the same results.
After I checked “Google Drive” and “Google Drive Files” and saved the change in the Auth0 dashboard, I
- sign in to the application
- click “Allow” in the Google Drive popup window
- log out of the application
- close the window/tab
- open a new window
- sign in successfully without seeing the popup
Do you have more than one tenant? It is worth trying a different tenant to verify this behavior.