Let me see if I understand.
If "there is no need for RO approval", I'm assuming there's no need to lodge a new policy in place; you can "check if a requesting party is allowed or not to access the resource" on the back end and successfully locate an existing policy that says sharing okay. Maybe it's an enterprise (legal person/non-human) RO, and these are enterprise policies? In any case, pre-provisioned policy or "proactive sharing" would be just as typical a flow choice as "reactive sharing"/access approval.
If "there's no need for interactive claims gathering", it sounds like you're using claims pushing ("the token the client has"), such that the client itself is able to identify the requesting party to the authorization server sufficiently.