SharePoint 2016 does not support the SAML 2.0, you have to use the Saml 1.1, WS-Federation 1.1.
SAML token-based authentication in SharePoint Server 2016 uses the SAML 1.1 protocol and the WS-Federation Passive Requestor Profile (WS-F PRP). It requires coordination with administrators of a claims-based environment, whether it is your own internal environment or a partner environment. If you use Active Directory Federation Services (AD FS) 2.0, you have a SAML token-based authentication environment.
Plan for user authentication methods in SharePoint Server 2016
This is working as expecte donexpected in Office 365 but not in on-prem.
We tried with SAML 2.0 and get the below error.SharePoint use the WS-Federation but we tried to conifgured it on SAML 2.0.
Exception details: Microsoft.IdentityServer.RequestFailedException: MSIS7012: An error occurred while processing the request. Contact your administrator for details. ---> Microsoft.IdentityServer.Service.SecurityTokenService.EmptyOrMissingWSFederationPassiveEndpointException: MSIS5004: The WSFederationPassiveEndpoint address is not configured on the relying party trust identified by the endpoint 'urn:sharepoint:KFA'. It is required to process the current request.
at Microsoft.IdentityServer.Web.Protocols.WSFederation.WSFederationProtocolHandler.ValidateAndUpdateReplyToForSigninMessage(MSISSignInRequestMessage& wsFedSigninRequest, WrappedHttpListenerRequest httpRequest)