Yes, this approach is possible. You can get Azure AD authenticate all users while accessing single application by multiple different departments, keeping applications independent of each other.
To achieve this you will have to configure salesforce application using multi-instancing.
App multi-instancing refers to the need for the configuration of multiple instances of the same application within a tenant. For example, the organization has multiple accounts, each of which needs a separate service principal to handle instance-specific claims mapping and roles assignment. Or the customer has multiple instances of an application, which doesn't need special claims mapping, but does need separate service principals for separate signing keys.
You can also refer below article to get more information.
https://learn.microsoft.com/en-us/azure/active-directory/develop/configure-app-multi-instancing
Let me know if you have any further questions on this.
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