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Signin in another domain

Hi, we’ve got the following situation here at the company

We have a public system documention in Confluence (we don’t have access to the server), that uses Auth0 for simple browser authentication (no user database) at

And we’re looking for a way for autheticating the user from within our web app (that is hosted in another domain), so when he clicks the documentation link, he won’t be asked to enter the credentials at the doc’s page, since he’s already authenticated in the web app

We don’t know if it’s possible, and if it is, which Auth0’s API to use in the web app for authenticating the browser in another domain

Can somebody shed light in our issue?