In general, you can just send them to a URL for your application/Client, which, assuming it is properly protected by Keycloak, do the correct redirects to log in the user.
However, if you are interested in a "dashboard" like many IAM systems (Okta, Azure, etc.) have that show you what applications the user has access to, I often use the Keycloak Account, Applications page. Your URL will look something like this:
https://{host}/{relative_path}/realms/{realm}/account/#/applications
Which satisfies the need of having a Keycloak URL that the user can be directed to, will challenge them to log in, and then display which applications/Clients they can access.
However, I'm not sure this 100% answers your question, as you mentioned multiple Realms rather than multiple Clients. Keycloak is only meant to do SSO within a single Realm for multiple applications/Clients.
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