Magento2 – Replicate admin login in custom controller

We have been struggling with this during last days

If we try a frontend controller replicating the same code Magento fires when authenticating an admin user then we always end with session/cookies errors (process says it went ok but website redirects to default admin login)

If we try an admin controller then we are always redirected to default admin login. We have tried several ways with no success

I want to believe this can’t be so hard to achieve. If somebody has done something similar, can you share your code? I will provide bounty points once it unlocks