How your bank presents (or doesn't present) a new SEPA mandate to you for approval is up to them. I'd guess that at least some of them never show you anything, and assume that you will notice and revoke the payment if it was unexpected or fraudulent.
Yes, but how well defined, or how loose, is that "authorization"?
Unfortunately, that depends on the implementation of security the bank adopted. I assume you are mentioning a detail in the PSD2 directive. The banks, especially after national legislation following the directive, may adapt but not overlap it.
Take as an example the rule in the directive, that NFC based payments should require PIN based confirmation every five transactions: not all banks implemented this.
There is also dynamic linking (ie you are shown the amount but also a unique code that the payment requestor also showed you) so you are confident it is the same transaction.