This is occurred when SAML Signing Certificate is manually renewed.
To verify the issue is due to the signing certificate.
1. Login to Azure Portal> Enterprise Applications> Open the PCS application> SSO> Edit- SAML Signing Certificate> See the certificate status> Note the thumbprint>

Goto PCS Server> Auth Server> Open the SAML Server> Under SSO> Note the Thumbprint(thumbprint should match the active one in Azure SAML signing page)