Can we add external users to Sharepoint online site collection without sending invitations? I dont want to enable anonymous access and B2B

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Yes, by using CSOM you can invite external users without sending them an invitation. However, users will only get access to SharePoint after authenticating with a Microsoft or AAD account and accepting the invitation link. As far as I know you can't just give them access.

I know there's a process where you could do so with B2B, but don't know exactly how that works.

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