How do we go about authenticating to multiple authorization servers?

Assuming that we have multiple authorization servers, how do we go about authenticating users to each authz server to get tokens for them? Would we have to go through a /authorize call and then /token call for each authz server?

That sounds right. Last I heard, Okta doesn’t support token exchange flow yet.
https://datatracker.ietf.org/doc/html/rfc8693