Getting error as The response contained an InResponseTo attribute [] but no saved authentication request was found in saml2

As per the documentation, "the Spring Security uses an HttpSessionSaml2AuthenticationRequestRepository, which stores the AbstractSaml2AuthenticationRequest in the HttpSession" but when trying to use oauth0 as the IDP and trying to the controller after authentication getting error as The response contained an InResponseTo attribute [ARQ8c68bbb-2337-4bd2-98cf-d9d4d2b36024] but no saved authentication request was found, after authentication successful with the idp.

Reproducing:
Sample: https://github.com/sasirekha98/samlExample/tree/main
Accessing the https://mysamlexamplesp.com:8443/springSSO/samlPasswordLogin it redirects to the oauth0 page for username and password once logged in it shows the error