This page refers to ADFS SAML 2.0 WebSSO. If you are looking for AFDS WS-Federation Passive SSO please see here.
To setup ADFS SAML 2.0 SSO with iAuditor use the standard ADFS process for adding iAuditor as a relying party as described in the step by step instructions here:
Use the following values where required
Note that the name of the SSO connection will be provided by SafetyCulture after the connection is configured.