Logging in okta without logging out from first session

It’s a bit of odd question but for a better user experience its my requirement.
The question is I want to login to okta using an IDP that I have configured while I’ve already logged in using another IDP or Okta’s username password. Currently I can login to okta using 2 different IDP simultaneously by using incognito mode for another IDP and normal browser for first IDP but I want do this without using incognito .
Is there anyway ?

There can only be one Okta session within a given browser (Okta uses a session cookies set on the Okta domain to track the session). So the first user would need to log out in order for the second user to be able to log in and start their own session