Hi @Wesley Ramon , Azure AD joined devices don't have a computer object in on-premises Active Directory Domain Services (AD DS), so applying GPOs from your local DCs to Azure AD joined devices is not directly possible. However, you can use Azure AD Domain Services to create and manage group policies in a managed domain.
For hybrid Azure AD joined devices, you can apply GPOs from your local DCs since they have a computer object in AD DS. To join a device to specific groups in Active Directory, you can use the Active Directory Users and Computers (ADUC) snap-in.
Keep in mind that SSO access to on-premises resources requires line-of-sight communication with your on-premises AD DS domain controllers. If Azure AD joined devices aren't connected to your organization's network, a VPN or other network infrastructure is required.
Please let me know if you have any questions and I can help you further.
If this answer helps you please mark "Accept Answer" so other users can reference it.
Thank you,
James