Our web. Config was missing the runAllManagedModulesForAllRequests="true" from the modules element in system.webServer. Once this was added all web requests receive the Authorisation event from FormsAuthenticationModule.
Navigating to an aspx page does not test if forms authentication is working in MVC, you have to navigate to a route. I saw your answer and that's what I had in mind. Instead of the inefficient runAllManagedModulesForAllRequests="true" I suggest removing the managedHandler precondition.
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