Azure VMs have a built-in guest agent service that allows the Azure Framework to deploy, secure, and manage admin software like monitoring agents but deploying an extension.
Several of these extensions are not available as a stand-alone installs. The AMA agent for example is only available as an extension.
Extensions can also be assigned to VMs by Azure Policy.
Azure Arc is the guest agent for non-Azure servers. It allows Azure to install admin software as an extension. Just like Azure VMs, the extensions are assigned by policy and the install, credentials, and updates are managed by Azure.
Azure Arc cannot be installed on Azure VMs.
So the AMA is only available as an extension. For your MMA agent, the extension-based deployment may update the MMA agent version but it should not replace the agent/config.