SAML vs OIDC for authenticating apps and apis

We have a slew of SPAs + internal APIs, and are using OIDC for authentication. Our OP currently uses Okta via SAML as one of our authentication methods. We want to get rid of our authentication service, and use Okta directly. Would we be able to use SAML in the same way, or do is OIDC the only way to do this?

I am bumping this question