SSO configuration are described here: https://learn.microsoft.com/en-us/windows-server/identity/ad-fs/operations/configure-intranet-forms-based-authentication-for-devices-that-do-not-support-wia#configuring-wia-for-chrome
In a nutshell, you need to make sure that:
- Your browser is configured to accept Windows Integrated Authentication for the ADFS URL (that might mean that you need to add the URL to some trusted zone security settings) - that's not specific to ADFS by the way, that's for all website on which you want to us WIA.
- Your ADFS is configured to accept your browser for SSO (that's the link I copied earlier). That's with the WIASupportedUserAgents parameter.
- Your authentication policy is allowing WIA (and the application not forcing Form Based Authentication).