Using Auth0 to generate AWS temporary credentials with SSO

We are considering using Auth0 to manage SSO for user access to the AWS Console as outlined in the official Auth0 guide here

If we follow this setup then our users with be able to login to the AWS Console under predefined AWS roles.
Our users also need to access AWS using the same roles but from the command line.
There is currently no Auth0 documentation or guidance on how to do this.

There is/was some legacy functionality that looks relevant but this is disabled since 2017 without any replacement

A question about Auth0+AWS temporary credentials has been raised previously on this forum but without a specific answer.

Is anyone else out there using Auth0 SSO to generate temporary AWS credentials for the AWS CLI? Does anyone have experience of attempting this and what issues were encountered?