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I understand that you require add your Azure AD joined device in your DNS
A hybrid Azure AD joined device is part of your Active Directory Domain Service (AD DS), in consequence you can resolve the IP of that device by name. Your AD DS is part of your DNS infrastructure.
In the case of an Azure AD Joined device, this device is not part of your AD DS, so, there is no direct way to add the device in your DNS infrastructure.
You should add your Azure AD joined device manually in your DNS servers.
Hope this helps!
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