Is there any option to sign-in to Azure portal using clientID, client Secret, Tenant ID and /or subscription ID? Most of the samples I saw are using AD or SAML
No, you can't.
If you get the sign in url of the azure portal, you will find it uses this flow to authorize.
https://login.microsoftonline.com/organizations/oauth2/v2.0/authorize?
client_id=c44b4083-3bb0-49c1-b47d-974e53cbdf3c&
response_mode=form_post&
response_type=code+id_token&
scope=https%3a%2f%2fmanagement.core.windows.net%2f%2fuser_impersonation+openid+email+profile&
state=OpenIdConnect.AuthenticationProperties%3d5sSBWCgxO8uzYlVgeWTBnBpO_3udn25WSlg2P5mZjzotjbc0u3aiZfTvDwyVNboeIldUVKig-KNmc_LiG_a2LI4dySYHViQ1bEQgXUt1c7PbCQ4Nqg-VOu9nsnSwTZ4i15w_0XeNah_PvG8B0TgQI5D-AlN4lhNrwtjN8ATClowc38Ifdu7h8BweU3sGvxlvYxtBG3-VzwSty-jaDbz3CRTUFmm0jTTKOGPrHsGu3q6-R9pDKFqvZk50Cd6AstdLe4qpcTRxFlkb114JxGW0BzZKIy__sIbqkHm_WeMnaFBGuQaTcGv4e7EizLxbZUc_jpqopZRCw7sfv-eaxHrD_ZoaXzNtylfoVnfcrnK0cbvh1TopnOcY166ZFW4uQlFu73De9SPMKMVr53gaUJTfR_pdJBQ_hS51L4quMf_noP4x5szhQ314hxgwoJBnw7R_8vhBKF6jplZmhqf3Hrsp4nEyzjjbyocCoXF9qxJjLkY&
nonce=637188980051547113.OTZkOTdlYjctODJiNS00M2E1LWFjZWUtM2FlMTUyYmJmOTc0ZWUxOWQ1OTYtNTBhOC00ZTc0LWFmMGYtNDkwYTA3ODJkZmEx&
redirect_uri=https%3a%2f%2fportal.azure.com%2fsignin%2findex%2f%3ffeature.refreshtokenbinding%3dtrue%26feature.snivalidation%3dtrue%26feature.usemsallogin%3dtrue&site_id=501430&client-request-id=c171ca99-bd9c-4a38-aaa0-a9344d273131&x-client-SKU=ID_NET&x-client-ver=1.0.40306.1554
Actually the azure portal is an AD App registered in azure ad, so you need the user account to login.
If you want to use the service principal(i.e. the clientID you mentioned) to do operations on the azure resources, you could use the Azure powershell, CLI, REST API.
Samples:
1.Use the service principal to login Azure powershell
$passwd = ConvertTo-SecureString <use a secure password here> -AsPlainText -Force
$pscredential = New-Object System.Management.Automation.PSCredential('service principal name/id', $passwd)
Connect-AzAccount -ServicePrincipal -Credential $pscredential -Tenant $tenantId
2.Use the service principal to login Azure CLI
az login --service-principal -u http://azure-cli-2016-08-05-14-31-15 -p VerySecret --tenant contoso.onmicrosoft.com
3.Use the client credential flow to get the token, then use it to call the REST API, see this link.