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It seems that you are experiencing an error 80070002 when using SCCM Task Sequence to configure machines using Autopilot with HAAD join. This error occurs when the device preparation phase fails while waiting on the client to install. To troubleshoot this issue, you can collect logs and investigate how the enrollment status page failed while waiting for Configuration Manager. You can find more information on how to troubleshoot Autopilot in the Troubleshooting overview document provided in the context.
It is also worth noting that the error 80070002 can occur when there is a mismatch between the device's time zone and the time zone of the server that hosts the Offline Domain Join Intune Connector. You can check the time zone settings on both the device and the server to ensure they match.
References:
How to enroll with Autopilot - Troubleshoot
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