@Jeremy Rodriguez Thanks for posting in our Q&A.
Generally, we can remove windows devices from intune under Settings > Accounts > Access work or school > the connected account > Disconnect. From your description that the previous company still remains, it seems that your device is autopilot enrollment device.
For autopilot enrollment devices, it is suggested to contact your previous company to remove your device.
Or please create an intune support ticket and provide your proof of purchase. The support engineer may help you to remove your device from background. Here is the support link:
https://learn.microsoft.com/en-us/mem/get-support
Hope it will help.
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