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The short answer is Yes. Creating an interceptor/Filter to read the SSO cookies, identify the user to establish the session and log them in is very much possible on On-Premise/Hosted versions of Jive (but not Cloud). Cloud uses a standard SAML(2) SSO configuration, but I'm not 100% sure if it auto-detects when a session isn't established.
As for pointers, on the On-Premise/Hosted versions ... there are a lot of moving parts and hard to get started as these integrations tend to be a bit entailed. If you wanted one built, you'll probably be better off going to Jive PS / Partner with SSO plugin experience to get started or deliver the full thing. For example, here is an old document: Example: Authentication and Authorization from a long time ago, but the SSO model has evolved since then....with a lot of nuance is involved.
In the short-term, I would recommend having users select the "remember me" option (assuming its enabled) when logging in ... to minimize the impact/need for an SSO auto-login feature.
While not the best answer, I hope it helps.