Okta IDP Initiated RelayState - Stack Overflow

For IdP initiated SSO (where you login to IdP first, then access SP), you can modify the RelayState under General SAML settings, like: Note the app embed url is for IdP initiated SSO only, it shouldn't be used for SP initiated SSO as its IdP SSO URL. When user accesses SP directly (without login to IdP first), it starts a SP initiated SSO.

Source: stackoverflow.com