Getting list of groups user is associated with in Okta

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I'm trying to integrate with Okta SSO by implementing SAML 2.0 in my website as Service Provider (SP) and Okta env. as my Identity Provider (IDP) I can't understand how to configure my IDP to return for each Auth request, the groups a user is in. How can it be done?

Also, Is it possible to have service account in my IDP that my backend can ask the IDP directly if a user is inside some specific group?

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