@Mitchel Shepherd,Thanks for posting in Q&A.
From your description, I know that you want to enroll your Azure AD joined devices into Intune with an easier way.
Based on my researching, here is one way to enroll existing Azure AD devices into Intune
https://call4cloud.nl/2020/05/intune-auto-mdm-enrollment-for-devices-already-azure-ad-joined/
Non-official, just for reference.
Hope this can be helpful.
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