Hello @Pisipati, Santosh,
welcome to this moderated Azure community forum.
The Azure IoT Hub is a popular IoT Cloud gateway due to the strong security, flexible routing and wide support for devices and SDKs.
The IoT Hub uses MQTT (amongst others) as a transport protocol.
The MQTT topics it supports is tightly related to the DeviceTwin capabilities as seen in this post.
This is also a restriction, the IoT Hub only offers support for these (few) MQTT topics. Other topics are ignored.
In the past, Microsoft has attempted to overcome this limitation with additional (MQTT5) support.
It is not recommended to go this path.
So what now?
Last year, Microsoft has introduced full (vanilla) MQTT support in the EventGrid Namespace (comparison).
This will offer exactly what you need, secure Device communication over MQTT, check out this blog post for a walk through.
Notice you need to secure your devices with eg. X509 certificates as the Identity. If you use a constrained device without a certificate store, you also need a Digicert certificate for the TLS connection as seen in this demonstration.
Check this documentation about client authentication, including Entra ID authentication.
A sample Python client is available on GitHub.
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