How to skip Fusion SSO login page?

Hello

Employees in our organization access various Fusion HCM pages via deep links configured in our company's internal portal. For example, one link takes them to personal details page, one for payslip, etc. Each time when the user clicks on the deep links, they land on Fusion login page where they click single sign on button and then authenticate and following this they are taken the respective pages.

In our case, we use Google IDP and whenever users already authenticate the google session for access other applications including our employee portal, they are still redirected to fusion SSO page upon clicking the HCM deep links. Is there a way they can be taken to our HCM pages directly when they click on these deep links if they have been already authenticated with google in the current session? If so, what are the steps to be taken please?