User Authentication and Authorization in VBCS

Summary

Methods that are available to do an Authentication and Authorization for VBCS Application

Content

We have developed a custom application for our business usage on VBCS. Currently our ERP Cloud in on a different IDP than our Tenancy on which our VBCS is available so the user has to login to ERP first using his MFA and then when they navigate to the custom application they get the SSO screen again. 

1) Is there a way in which we can reduce the dependency on IDP for the custom application 

2) We do not want to bring in users from our SaaS application to the PaaS Tenancy. Is there a way users can be authenticated in ERP and directly when they click on the application link embedded within ERP they navigate to the custom screen