Connect HCM IDCS to EPM IDCS

Hi Team

we need to conenct HCM IDCS to EPM IDCS , so that below things are achived.

1)  add/import specific user(s) from HCM IDCS into EPM IDCS (we already have SSO set up in HCM IDCS and EPM IDCS with AZure AD)

2) Access to specific EPM instance

3) Role in that specific EPM instance

4) adding them to the group relevant to EPM instance

What are effective ways to do this automatically and not manual (as of now).

Suggestions / guidance on process please.

thank you!