Even with a registered app, you would need to provide some sort of authentication method and provide some level of access to the tenant. The preferred method is to add their sending IPs to the SPF record, why dont you want to do that?
However. If the external sender is ONLY sending to the yourcompany.com and spoofing and not sending to other external recipients as yourcompany.com, then you could simply create an Exchange transport rule to allow these or add as an allowed spoofing pair if you are using Defender for 365: