Hi @rsung
Thank you for reaching out to us!
You are indeed correct, the ADFS Connection Type is designed as a streamlined SAML Connection and should work correctly for your use case. As with SAML Connections, you will need to keep in mind some aspects in order to ensure a smooth migration, such as : correctly mapping the attributes, confirming the NameID format, ensure the correct Signing Certificate etc.
I can recommend the following documentation as reference to assist you along the way:
Set Up Azure AD as a SAML Enterprise Connection in Auth0
Hope that helped!
Gerald