@Chen, Byron, Thanks for posting in Q&A. Based on my checking, for the relationship with the managedDevices, I find we can use it to query one discovered app's managed device using the following method:
Action: Get
URL:https://graph.microsoft.com/beta/deviceManagement/detectedApps('<appid>')/managedDevices?$filter=&$top=20&$skip=0
Note: Change the appid with the one in your environment.
Hope the above information can help.
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