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OTOH couldn't it be done with Cloudflare Zero Trust ?

Have the GH Pages (sub)domain proxied with CF, protect the URL with Zero Trust, for SSO itself there are several IdP available [0]. First 50 users are not billed.

[0]https://developers.cloudflare.com/cloudflare-one/identity/id...

I haven’t tried doing this, although I’ve thought of it to solve a similar problem, which I ultimately solved by not bothering and just letting GitHub render the docs. (Purely internal technical use cases, so not an issue.)

I haven’t experimented, but my first attack would be to query the GH Pages service directly and specify the host header. Bypass Cloudflare entirely.

GitHub Pages supports SSO with the enterprise cloud plan, of course.

https://www.twilio.com/blog/keep-internal-docs-secure-okta-n...

This is one, although you'll need to use Netlify instead of GitHub Pages proper.

We use azure ad for authn to our github organization. That also covers github pages generated from those repos.

I assume that means that every person accessing the pages also needs a github account? I don't mind a requirement for a github account for anyone contributing to the repo but I would like authenticated access for viewing the pages that doesn't require a Github account.