Cokernels of random $p$-adic orthogonal matrices and their linearizations

We study the linearization of the random $p$-adic orthogonal matrix model. Let $A_n$ and $B_n$ be Haar-random $n\times n$ special orthogonal and alternating matrices over $\mathbb{Z}_p$, respectively. For an odd prime $p$, we prove that $\mathrm{cok}(A_n-I_n)$ and $\mathrm{cok}(B_n)$ have the same l