Yest it does , the On-prem agent flow goes through a SCIM endpoint/server/connector and connects to a on premise application/SCIM enabled app , we have a deployment guide summarizing this flow and a guide for establishing this flow , there are many aspects of this integration and the configuration can be pretty heavy, but with Okta SDK's you can test out the flow in a pretty straight forward manner : https://support.okta.com/help/Documentation/Knowledge_Article/46749316-On-Premises-Provisioning-Deployment-Guide This would a be step by step guide through the architecture.
From what I understand, there should not be a need to implement a new SCIM connector if the target application already supports SCIM natively. I believe the on-premises agent should be able to talk directly to the application.
I pointed the agent to our application IdentityIQ, however, the agent seems to fail at a specific operation, namely the ServiceProviderConfigs operation, which is a SCIM 1.1 operation. IdentityIQ supports SCIM 2.0, where that same operation is named ServiceProviderConfig, without the 's'. Please let me know if there is flag somewhere I need to set to make the agent switch to the SCIM 2.0 protocol, if at all it is supported.