FSSO Passive AuthC using Azure AD

Greetings community,

Our company is planning to migrate all AD servers to Azure AD service. I am wondering if there is a FortiGate SSO solution for this scenario that provides passive authentication experience for users.

So far the only option that I have found was configuring SAML between the Firewall and Azure, but that will make the users going through a prompt to put their credentials and we DONT WANT that, we need a "passive authentication experience".

Is there an equivalent solution to FSSO when using Azure AD? Let me know, thanks!