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
Plan for user authentication methods in SharePoint Server 2016
This is working as expected 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. --->
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.
wsFedSigninRequest, WrappedHttpListenerRequest httpRequest)