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Solution identified. The Amazon Connect instances we are leveraging was created three years ago. SInce then, Amazon has updated the domain naming and thus the URLS need to be upgraded to support the new domain names. Once this was done.. It works like a charm.
Many folks suggested making sure that the Salesforce origins were in place on the connect instance, but this was not enough.
See document: https://docs.aws.amazon.com/connect/latest/adminguide/update-your-connect-domain.html
When defining the RelayState URL for Salesforce integration its important to make sure the URL being provided follows this guidance:
Following are examples of valid relay state URLs:
https://us-east-1.console.aws.amazon.com/connect/federate/your-instance-id?destination=%2Fccp-v2%2Fchat%26new_domain=true
So in our case, a valid SSO Relay State is:
&RelayState=https://us-east-1.console.aws.amazon.com/connect/federate/<connect instance id>?destination=%2Fccp-v2%26new_domain=true
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Is it happening for all users in your test environment? I've had this happen to me all the time - but not impact others - in the same environment, and the only way I've managed to fix it is by running another browser, or use Chrome Profiles and create another user profile. Also ensure that Softphone Popout is not enabled. But, you've probably done that already :/ Oh, and also double check this - https://salesforce.stackexchange.com/questions/317850/trailhead-amazon-cti-sso-popup-doesnt-close
Yes, any users in our test environment experiences this behavior. We've tried multiple browser types all yielding the same results. We reviewed the trailhead article mentioned, but unfortunately this made no difference in the experience.
It looks that we may need to leverage Amazon Connect with SAML authentication against Salesforce as an Identity Provider as opposed to leveraging Azure Active Directory. When this happens, it works like expected where the softphone panel pops out and back into the expected Salesforce Panel. This is actually a win, since the theory will be to leverage Salesforce as a broker back to Azure AD since that's leveraged to federate Salesforce.