Using AuthTokens with SSO?

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I would like to use AuthTokens so that after our end users get authorized once, they remain authorized so that the apps load much faster. The goal will be to also utilize InSessionAuth or similar to allow for new role assignments to still be updated. How do I go about enabling the AuthTokens when users sign in with SSO? The docs only reference using the client API to login2 endpoint, requiring username and password, which obviously you can't use if you are using SSO...so is this even possible to implement, or will users always have to re-authorize every time they try to access every single app (give that their previous session has expired).
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