Settings for Okta should always use the Identity Claim Type "Name ID" and ensure that the user profile maintains that Name ID from Okta in the user's profile for the Single Sign-On Okta User Name.
Okta SAML Settings are like this with your URL replacing [my_URL]
PI Settings in the SSO/SAML Configuration will use the Identity Provider (IdP) setting as a copy and paste from Okta. In Okta the setting you will copy is Identity Provider Single Sign-On URL. IN addition to the settings below, some configurations may require that you check the option for Identity Provider Initiated.
The user profile should look like this in the Single Sign-On tab.