My recommendation would be to upgrade vCO to 5.1 update 1 so that you can use basic HTTP authentication with vCO REST API. vCO 5.1 GA only supports token authentication when vCO is configured for SSO authentication at the back-end, and that is quite tricky as you have noticed.
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Re: Java Rest calls failing to authenticate. - error SSO Server error/Requires full authorization.
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