Saw couple instances when the users were constantly being prompted for Azure AD Consent when trying to access Azure AD Zoom application regardless the fact that tenant Administrator consent was provided already to the application. Administrator also has disabled “Users can consent to apps accessing company data on their behalf” in Azure AD Enterprise applications User settings.
Captured Fiddler trace and looking at the request sent to login.microsoftonline.com see the following:
As you can see, the “prompt=consent” is sent to Azure AD by the application and that with the combination of disabled User consent is causing constant “Application requires Administrator Consent” prompts for the users.
Refer to the excellent answer explaining when the “prompt=consent” has to be used in this Stackoverflow post.
Also refer to this official Zoom support document explaining which setting on their portal can turn off/on this “prompt=consent”.