Riadh Zehani, thank you for posting this question on Microsoft Q&A.
The second link provided in the question is only applicable when you want to be able to access the Azure portal seamlessly. However, I think your main aim here is to be able to monitor these on-prem VMs through Azure Monitor Agent, therefore, the URLs/Post in the first link is applicable, which is:
Define Azure Monitor Agent network settings
Regarding your other question - outbound vs destination, I am not sure if I understand the question correctly. Both outbound and destination bound means the same thing - a network connection initiated from the VM/server.
In this case, the AMA initiates the connection (as mentioned in the table using the Direction=Outbound) with Azure Monitor endpoint, therefore on firewall the connection from the internal network (VM network) should be allowed to listed endpoints. In this case, you will have to put the Destination as the Endpoints, as shown in your table.
Hope this helps.
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