@Irin Sultana Thank you for reaching out to us, As I understand you wanted to join devices as hybrid azure ad join. Refer to this Configure hybrid Azure AD join how this can be achieved.
Also refer to this Handling devices with Azure AD registered state as it would help you if the devices are showing in dual state.
Refer to this QnA post on how to troubleshoot Non-Compliant device issue
[https://learn.microsoft.com/en-us/answers/questions/985761/azure-active-directory-non-compliant-devices
If this doesnt help to resolve non-compliant device issue, let me know we can connect offline and troubleshoot further on this.