Can we enable SSO via email hyperlink?

Summary

Can we enable SSO via email hyperlink?

Content

For example,

An employee gets a FYI/FYA email notification in mailbox.

Can we create a hyperlink in the email, in such a way that when the employee clicks on that link he directly gets into the application without providing any login credentials or clicking on 'Company Single Sign-On'.

NB:

a) We are using AD for company single sign-on and it is working fine.

b) We tried application URL in the email hyperlink option, but it is taking us to the login page, where the employee needs to click on 'Company Single Sign-On' to login.