Hello and welcome to forums.
If your devices are physically in the office, you can create a Trusted Location in Azure AD. When users access services from that location, Azure AD will consider it as a low-risk and allow them to bypass MFA requests. You can also target Conditional Access policies to that location and configure settings as you want.
You can find more information about Trusted Locations in Azure AD here:
https://learn.microsoft.com/en-us/azure/active-directory/conditional-access/location-condition
Please let me know if you have any other questions and please "Accept the answer" if this information helped you.
Thank you,
Vukasin