Unfortunetly, the link i found it does not tell you on how to setup the Azure SAML side in order to recieve the group saml assertion.

 I found this Cisco doc.  Starting on page 31 it talks about:Configure SAML Authorization Using DAPYou can configure SAML authorization and group policy selections using DAP, without having to rely on anexternal server (RADIUS or LDAP) to retrieve au...

Thanks, but the link is for SAML authentication, not for Authorization. I have SAML authentication working already.