To take remote on the AAD join device you have to initiate RDP session from the device which is also AAD join or hybrid Azure AD join to the same tenant. It is documented publicly as below,
https://learn.microsoft.com/en-us/windows/client-management/connect-to-remote-aadj-pc
From its release, Windows 10 has supported remote connections to PCs joined to Active Directory. Starting in Windows 10, version 1607, you can also connect to a remote PC that is joined to Azure Active directory.
Do let me know if you have any further questions on this.
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