Problem
Even though SSO is setup as the log in / authentication method, still getting prompt for a password.
This is due to the browser caching the last used login method when the session expires.
Solution
To fix that, can you try the following steps:
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Close all browser windows
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Open your preferred browser
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Go to the Strategic Roadmap page
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On the login screen, click the button Log in with a different account
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Delete your email address and manually re-enter it
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Click the Log in with SSO button and follow the on-screen prompts