Yes, in order to federate any SAML based IDP with Azure AD B2C, you need to use Custom Policy. As of now, for built-in user flows you can add only custom OpenID Connect IDPs not SAML IDPs.
Additionally, you can federate ADFS 2016 and later as OpenID Connect IDP with as well with B2C, in that case you can use built-in user flow.
To federate ADFS as SAML IDP, you can refer to: https://learn.microsoft.com/en-us/azure/active-directory-b2c/identity-provider-adfs2016-custom?tabs=app-reg-ga
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