Thanks for the response Dave,
If I'm understanding the example you linked, the end user would first connect to F5 which would then relay the authentication request to the IdP (in my case Okta) which would then reply with a "yes" to F5 which would then allow them into the resource they want. In my use case I would like a user to first connect to Okta who would then press a resource button (Salesforce, for example) which would use F5 to gain access to it's pre-existing SAML resources.
Okta has released a guide to run Okta as IDP and F5 as SP to access web resources behind the F5, however these resources are not SAML so I don't believe it would work the same way.
https://support.okta.com/help/s/article/Okta-Integration-Guide-for-Web-Access-Management-with-F5-BIG-IP#configuringokta