Answer
Check whether SAML is actually the right protocol to be configuring in the first place — IFS IAM is built around OpenID Connect (OIDC), not SAML, so trying to configure a SAML-based identity provider integration is likely the root cause of this kind of generic authentication failure rather than a specific misconfiguration within the SAML setup itself. Unless there's a specific hard requirement for SAML, switching to an OIDC-based Azure AD identity provider setup (which IFS documents directly) is the supported, straightforward path, and resolves this class of error entirely by using the protocol IFS Cloud actually expects.