Looking through Microsoft's website it appears the Azure SSO platform is a SAML 2.0 based system What is application access and single sign-on with Azure Active Directory? | Microsoft Azure if you are using the federated single sign-on option:
Federated Single Sign-On enables applications to redirect to Azure AD for user authentication instead of prompting for its own password. This is supported for applications that support protocols such as SAML 2.0, WS-Federation, or OpenID Connect, and is the richest mode of single sign-on.
as such this option should be compatible with your Jive instance. For more information on the SSO integration process you might find the following sections of the Jive Documentation helpful:
Jive Cloud - Setting Up Single Sign-On
Jive 8 - Setting Up Single Sign-On
Lastly, if you would like assistance setting up an integration with your SSO provider our Professional Services team can work with you to determine the scope of the project and help implement the integration. If you are interested in this option please submit a case in your secret customer group here in the Jive Community and the next available support engineer can assist in setting up an engagement.