Seamless single sign on between WordPress + custom coded site using an IDP?

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I’m a total newb at SSO. I know that I can use MiniOrange to do SSO with WordPress and whatever identity data provider I want to use but can it be done where the SSO works between 2 sites seamleslly?

For example, I log into WordPress with SSO and then I decide to hop over to site #2 without needing to login because I’m already logged in through WordPress and it should work the other way around.