No, not in a supported way. HAADJ is much more than an attribute of a device, it is a state of the device with many ramifications for authentication and thus this is not a simple change. You can manually unregister the device from AAD, unjoin them from the un-prem domain, and then rejoin them to AAD. You will then have to migrate the user profile(s) as well as these will be associated with the on-prem AD domain and not AAD.
Or, you can reset them. Assuming you've embraced cloud-native (I know this is possibly a big assumption but going down this path future proofs you in so many different ways), then resetting the device is a fairly straight-forward process and involves no user loss (except a little bit of time).