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5GS – General Registration – 09 of 24
Signalling flow for TS 23.502 General Register - AUSF selection

Step 8, verbatim
The AMF may decide to initiate UE authentication by invoking an AUSF. In that case, the AMF select an AUSF based on SUPI or SUCI, as described in TS 23.501 [2], clause 6.3.4.
If the AMF is configured to support Emergency Registration for unauthenticated SUPIs and the UE indicated Registration type Emergency Registration the AMF skips the authentication and security setup or the AMF accepts that the authentication may fail and continues the Registration procedure.