You do need Intune Connector if you want to create Autopilot supporting Hybrid AAD devices. Think very carefully, do you need new computers being hybrid. In these cases I typically advice to keep existing AD member devices hybrid without need to re-install but new computers or OS re-installation would create them as AAD only.
Autopilot is perfect if you purchace your PC devices from re-seller who support Autopilot. With existing devices or new non-controlled (purchace) devices, you will need figure out device hash import manually.