I have achieved this by adding single jsp page to collect post response from Okta. Received SAMLResponse then stored in localStorage (either encrypted or plain. It is upto you and your requirement). And then redirect to base url of angular app. You need to write a code to check if SAMLResponse is in localstorage. If yes, then simply send it to backend to process over rest api and clear the localStorage. If the SAMLResponse is not in localStorage the follow the regular login flow.
If you want to enable SLO, then you need to create non-angular form using ngNoForm directive on form element and send request as a post request. Redirect binding does not work.
<form ngNoForm method="POST" id="hiddenForm" action="idpUrl">
<input type="hidden" id="SAMLRequest" name="SAMLRequest" value=""/>
<input type="hidden" id="RelayState" name="RelayState" value=""/>
</form>