SSO from app 1 to app 2 issues

I have a React web app 1 which contains link to web app 2. Both two apps are created and configured in Okta and all users’ credentials are stored in Okta. I am new to Okta and tried two ways to do it:

If I provided the app 2 full URL as a clickable link in app 1, user will be redirected to a SSO sign in page with a ‘sign in with sso’ button. Is there a way to bypass this page? I like the user be redirected to app 2 directly after the link is clicked.

If I don’t provide the full URL above for app2, but give this URL: I got OAuth2 authentication failed Authentication response could not be verified error. Did I miss anything?