@julien deroche, Thanks for posting in Q&A. Based on my researching, I didn't find the built-in setting to enable USB debugging for android devices in Intune. Currently, you can manually enable it on the device. Here is a link with the steps for your reference:
https://developer.android.com/studio/debug/dev-options
Note: Non-Microsoft link, just for the reference.
Thanks for your understanding.
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