It’s possible, yes:
Within your SSO endpoint, you have the capability to map the claim to the payload, e.g.:
const ssoPayload = {
nonce: nonce,
email: user.email,
external_id: user.sub,
username: user.nickname,
name: user.name,
add_groups: a_custom_group,
'custom.user_field_1': user['https://yourdomain.com/company_id'],
'custom.user_field_2': [etc...]