Is it possible to cancel after implementing tenants attach?
Yes, there is a new offboarding feature for tenant attach. This will be included in a future release (hopefully 2107). This was initially previewed in TP 2014; see https://learn.microsoft.com/en-us/mem/configmgr/core/get-started/2021/technical-preview-2104#bkmk_offboard for details.
Is it possible to cancel after implementing co-management?
Yes. There is no process here, just disable it in ConfigMgr and unenroll endpoints from Intune.
When performing joint management, is it okay to understand that the Intune Agent is additionally installed on the MECM Agent on Windows 10?
There's no such thing as an Intune agent. Intune uses the MDM stack built into Win 10. Intune does deploy a supplemental agent called the Intune Management Extension, and yes, this is fully supported -- it would make no sense if it wasn't since co-management is explicitly the management by both.
I want to install Intune automatically at Hybrid AD join. Is this feasible?
There's nothing to "install". Co-management in ConfigMgr is explicitly about enrolling devices into Intune though. This can be initiated by ConfigMgr or group policy assuming you've configured all of the HAADJ prereqisites.