Goal: all outbound telnet and HTTP connections passing through the ASA must first be authenticated against an ACS server using the TACACS+ protocol.
aaa-server ACS_SERVER protocol tacacs+
aaa-server ACS_SERVER (inside) host 1.2.3.4
key myACSkey
!
access-list outbound_auth permit tcp any any eq 23
access-list outbound_auth permit tcp any any eq 80
!
aaa authentication match outbound_auth inside ACS_SERVER
There are additional options to configure HTTP vs. HTTPS and redirection vs. basic HTTP authentication. The documentation is a bit confusing, so I will be labbing this up shortly.

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