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Silent Authentification SAML



I use Auth0 as SAML IdP with two applications to ensure SSO between them.

user goes to the first application, gets redirected to login page, logs in, then when user goes to the second application, the Auth0 prompt shows up and user can confirm that he wants to proceed with the current identity to the second application.

I want to remove the prompt and have user access the second application directly.
Is there a way to do that ??