Groups SSO SAML: Support for Duo Access Gateway

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Problem to solve

Ensure Groups SSO SAML works with Duo Access Gateway as a SAML provider.

Further details

Customer trying to connect their SAML provider but encountered issues internal ticket 131616.

Documentation

If tested, add basic additional info to our Groups SSO docs

What does success look like, and how can we measure that?

Orgs with Duo as identity provider can connect.