Users authenticated by a web app other than the IdP?

SAML is a new concept to me but I’ve been tasked with implementing the following SSO solution using SAML: I have a legacy web app (ASP.NET MVC) that my users log into. I want to enable my users to navigate to a couple other SPs, FreshDesk, and another 3rd party app that claims to support SSO via SAML. I want to continue to authenticate my users in my legacy web app and then enable them to access the other SPs, FeshDesk and the other 3rd party app without singing into those apps. Is this scenario supported if I use Auth0 as the IdP? If so, any guidance on how to set this up would be much appreciated.