I do not see an ability to enable signed SAML AuthNRequests. Is this available?
Does Zendesk support signed AuthNRequests for SAML SSO?
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Does your SAML endpoint require "Destination" field for AuthNRequest and you would like to know if you can add that? If yes, unfortunately, there is no native way to do that. You could point your SAML login URL at a script to intercept and modify our SAML request to inject it yourself as a workaround, but that would be custom code and not supported.
I hope that helps!