This is SAML-P (the protocol) as opposed to SAML (the token).
There are a number of questions around about how you do this with AAD.
The official documentation SAML Protocol Reference is not very helpful but then I came across this:
Set up a trust between Shibboleth and Azure AD
The trick seems to be some "missing" documentation i.e. in:
Set-MsolDomainAuthentication ,,, -PreferredAuthenticationProtocol SAMLP
Applying Mr. Google to "PreferredAuthenticationProtocol" bought me to:
Office 365 Supports SAML 2 and
Office 365 - Switching the federation protocol to SAML from WS-Federation
Note: Office 365 runs on top of AAD.
No idea why the documentation lacks this key element?