BambooHR SAML setup

Has anyone been able to get BambooHR setup with Duo SSO?

Yes. It was easier then most of the SAML integrations we’ve set up.
You’ll need to add the SAML app to BambooHR.
SAML - BambooHR Marketplace | Your Favorite Integrated HR Apps

Then you’ll need the SAML configuration at the bottom of the link you posted.