Does SSO for Canvas App work seamlessly?

I'm designing a Salesforce org with a canvas app. Here I'm analyzing whether SSO works seamless for users.

(1) The Salesforce org and the canvas app shares the same IDP, which supports seamless login. Salesforce is a Service Provider (SP); the canvas app is another SP.

(2) The Salesforce, the canvas app, and the IDP each has their own session timeout.

(3) If the user logins to Salesforce and visit the page with the canvas app before IDP session times out, the login will be seamless, right?

(4) If an user logins to Salesforce via the IDP and keeps working on pages not using the canvas app, the Salesforce session is alive, but the IDP session will time out, right?

(5) Then when the user gets to the page with the canvas app, the user has to login via the IDP again.

(6) For the users, would it appear that SSO works some times (when if they visit the canvas app soon after they login to Salesforce), does not work sometimes (if they visit the canvas app after IDP session times out).

(7) Is there a way to make seamless SSO with the canvas app always work while a user is using Salesforce?

Thanks!