Yes, there's a way for sure. I'm not terribly knowledgeable on AD FS, but for us we enter "meraki" in our browser and it logs us right in with no further action. "meraki" has our domain suffix appended to it for meraki.domain.ad, which is an alias to urlredirect.domain.ad, which resolves to our ADFS server. After hitting that we're redirected to the dashboard consumer URL and we're in.
So I'm assuming there's a way in ADFS that you can detect which URL was used to get there, and then redirect to the dashboard after a successful auth.
Sorry I can't be more help.