This can be facilitated by application permissions, provided that your tenant is Tenant A and your client's tenant is Tenant B.
First, you need to register A multi-tenant application in Tenant A, as shown below:
Grant the application the necessary permissions, then request authorization from Tenant B's administrator using the following steps:
GET https://login.microsoftonline.com/{TenantB}/adminconsent
?client_id={cliend id of registered app in TenantA}
&state=12345
&redirect_uri={redirect_uri of registered app in TenantA}
Then get tenant B's access token:
POST https://login.microsoftonline.com/{TenantB}/oauth2/v2.0/token
client_id={cliend id of registered app in TenantA}
&scope=https%3A%2F%2Fgraph.microsoft.com%2F.default
&client_secret={client_secret}
&grant_type=client_credentials
Hope this helps.
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