Discovery and mapping of a cloud-based authentication, authorization, and user management service

A computing system includes persistent storage and a discovery application configured to perform operations including obtaining, from a remote computing system, first attributes of a first computing resource, which indicate a first unique resource identifier associated with an authentication system provided by the remote computing system and utilized by the first computing resource. The operations also include obtaining, from the remote computing system, second attributes of the authentication system, which indicate a second unique resource identifier used by the authentication system. The operations additionally include determining that the first unique resource identifier matches the second unique resource identifier and, based on this determination, generating a mapping between the first computing resource and the authentication system to indicate that access to the first computing resource is controlled by the authentication system. The operations further include storing, in the persistent storage, the mapping as one or more configuration items.