Based on #12664, the documentation around SAML 2.0 URIs could be clearer.
Specifically, it should be clearer when and why setting a registrationId or configuring relying party lookup is important. One reason that it is important is that RelyingPartyRegistrations defaults the registrationId to be the asserting party's entity id, which cannot be placed in the path of URIs like /authenticate/{registrationId}. Either the relying party lookup strategy needs or the registration id needs to change.