@Vij, Thanks for posting in Q&A.
For the domain join profile, it is only used during Autopilot Hybrid Azure AD join enrollment. And it is not supported in your scenario. Here is a link with more details:
If you want these devices to both join on premise domain and register to Azure AD, generally we called do Hybrid Azure AD join, based on my research, there's no direct method to convert it. I think we need unenroll the device from Intune and remove the device from Azure AD. Then configure Hybrid Azure AD join. After the device is Hybrid Azure AD joined, then we can choose GPO enrollment to do the enrollment.
Or you can choose the Autopilot Hybrid Azure AD join method in above link.
Hope the above information can help.
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