How to pass the relay state in the Application?

I am trying to implement SP-initiated SSO by creating an application and an IDP application. We are passing a resource URI as default relay-state in the SP application. But after the IDP validation, it is not redirected to the relay-state URI. It stays on the IDP url page.
Need help in configuring the relay-state for the SP app.

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I have the same issue. Here is a link in case it gets answered:

Also the same issue. Okta does not redirect to the application URL