3139473 - "SAML2Response destination does not match requested Service Provider URL" error during SSO with corporate IdP

SSO with corporate Identity Provider does not work.
The SAML response sent from Identity Authentication to the Service Provider contains the status message "Failed to authenticate user".
The Identity Authentication Troubleshooting logs contain one or both of the following error(s):

• SAML2Response destination does not match requested Service Provider URL.SAML2Response destination does not match requested Service Provider URL.
• Recipient URL [null] is not valid

Identity Authentication

ias, Failed to authenticate user , KBA , BC-IAM-IDS , Identity Authentication Service , Problem