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Based on the information provided, it appears that the aws:PrincipalOrgID condition key is not be applicable when using SAML federation with AWS. This condition key is typically used to restrict access based on the AWS organization that the principal belongs to, but in the case of SAML federation, the principal is the external SAML identity provider (IdP), not an AWS account or organization.
Instead of using aws:PrincipalOrgID, you should just use the SAML:aud condition key to specify the intended audience for the SAML assertion, which is typically the AWS sign-in endpoint (https://signin.aws.amazon.com/saml). The trust policy you provided with the SAML:aud condition key should work for SAML federation with AWS.
[1] aws:PrincipalOrgID- https://docs.aws.amazon.com/IAM/latest/UserGuide/reference_policies_condition-keys.html#condition-keys-principalorgid
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