Is there a way to configure "RelayState URL" from SSO IDP Federation Partnership settings?
All the supported - Policy Server and CA Access Gateway Environments.
Note that the "RelayState URL" is a constructed URL and there's any parameter or settings to configure from the Federation Partnership. The Partner needs to include a RelayState URL while sending the request.
Note also that this RelayState indicates the URL of the target resource at the Service Provider (SP) and the RelayState value should be URL-encoded (1).