How to implement SSO using SAML 2.0 protocol for an Android application?

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I want to implement SSO login using SAML 2.0 protocol, with Azure Active Directory for my android application, however, I did not come across any documentation/resources for Android. I came across Microsoft's MSAL SSO authentication, but it is based on the OpenID Connect (OICD) protocol, hence I cannot use that.

Here is a link I came across to implement SSO using SAML with Azure AD, but it doesn't mention about Android implementation anywhere - https://docs.microsoft.com/en-us/azure/active-directory/develop/single-sign-on-saml-protocol

Has anyone implemented SSO login using SAML 2.0 protocol only, and if so, how did you achieve it, or if anyone knows of any resources/documentation for Android, it will be very helpful.

I read about WebView not being the ideal approach for SSO, hence not using that as well.

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