Require email & password for SAML logins

Hello there!

We have a service provider that’s utilizing SAML to authenticate with our Auth0 tenant. Is there a way to force them to enter an email and password for every attempt?

I’m familiar with this approach https://YOUR_DOMAIN/authorize?response_type=code& client_id=YOUR_CLIENT_ID& redirect_uri=https://YOUR_APP/callback& scope=SCOPE& audience=API_AUDIENCE& state=STATE& prompt=login

Is there a SAML equivalent for the prompt=login param?

If not, is there a way we could accomplish this using a custom Action in the Login Flow?