Single URL for internal and external CRM access when using IFD

Hello,
At one of our client site I have setup IFD on CRM 2011. This IFD is behind TMG. My client is a big corporation therefore all CRM components including CRM, ADFS and SQL are on separate servers.
I have configured IFD using single url https://orgname.contoso.com Their IT staff wants to know why can't they use single URL for internal and external access where internal users are nto prompted for authentication
when logging on to the CRM server. I know you can do URL re-write in ADFS but they want to know the reason "why internal users can't use the same IFD URL and don't get prompted for their credentials". Text below is from their IT staff.

There are several approaches to your question.  You need to set up both an internal and an external relying party trust. If you use the external URL, it will always direct you to the signin page, if you use the internal URL, it will resolve you single
sign on.
I've configured IFD for CRM multiple times, and this is how it works. CRM looks at the URL. If you use the external URL (org.domain.com), it will prompt for credentials. So what you are asking for, a single URL that works single sign on internally and prompts
externally really isn't possible.
What I recommend is:
1. make the external URL available internally
2. Configure all outlook clients against the external URL, that way you won't have to reconfigure when someone goes internal to external
3. Have users who are primarily internal use the internal URL for the web client, which will resolve single sign on
4. Have users who are primarily external use the external URL for the web client
For #1, since you only need to enter the credentials when you first configure CRM, it is in all effects single sign on.
One thing I haven't tried that may work is using IIS redirect internally to redirect the external URL to the internal URL. There is also a powershell script in the IFD guide that you can use to make the outlook client switch between the internal and external
URL's, but nothing that will give you a single URL that works as the internal relying party trust when internal and the external relying party trust when you are external.

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