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To my knowledge, no. ADFS is required in AVD to achieve SSO. One of many downsides of AVD. Microsoft spends years telling us to move away from ADFS, but to get SSO in AVD you need it, these mixed signals are hard to deal with.

Bummer -- This client was ready to go all in on AVD to replace existing simple VMware Horizon setup but requiring users to to double login is going to kill the deal for sure.