The sad part is that we have an OS-managed standard for SSO called Kerberos, successfully used as part of Microsoft Active Directory, and for which most mainstream OSes still include support. This allows any application on your machine to inherit that auth without ever seeing a single login screen.
While it can't easily be used cross-companies (and thus why SAML/OIDC exists), it's perfect for internal company infrastructure, and SAML/OIDC can still be handled somewhat seamlessly by having a minimal service that verifies your Kerberos identity and immediately dispatches you back to whatever third-party service you wanted to authenticate to, with no intermediate login pages or even any kind of UI (this service doesn't need UI because your authentication is managed via Kerberos for which your OS provides the UI).
The problem is that you can't make money (nor "growth & engagement") off stable, battle-tested stuff that already exists and happily works in the background, so Okta/etc shareholders need to peddle worse solutions that waste everyone's time and processing power.