@Chandru Vijayan,Thanks for posting in Q&A.
For the error message in Intune, here are some troubleshooting steps.
1.Make sure the windows device is Windows 10, version 1709 or later.
2.Make sure MDM user scope is set to "All" and MAM user scope is set to "None" in Devices > Windows > Windows enrollment > Automatic Enrollment in Intune portal.
3.Make sure allow windows MDM in Enroll devices > Enrollment restrictions.
4.Run "dsregcmd /status" from the command line. Confirm that if both "AzureAdJoined" and "DomainJoined" are set to YES. And SSO State section displays "AzureAdPrt" as YES.
5.You can refer the links below to troubleshoot.
https://call4cloud.nl/2020/05/intune-auto-mdm-enrollment-for-devices-already-azure-ad-joined/
Non-official, just fore reference.
6.You can try to change the license to Microsoft 365 Business Premium to check whether the issue can be fixed.
However, I noticed that you enrolled your device into a 3-party MDM and there may be compatibility issues with Hybrid AAD and Autopilot, so I suggest you contact the 3-party MDM engineers for more help.
Thanks for your kind understanding.
If the answer is helpful, please click "Accept Answer" and kindly upvote it. If you have extra questions about this answer, please click "Comment".
Note: Please follow the steps in our documentation to enable e-mail notifications if you want to receive the related email notification for this thread.