In order for users to get through autopilot in a user-driven autopilot scenario using their own credentials, they need to be added to "Users may join devices to Azure AD". So you could add device enrollment restrictions within Intune to only import devices into autopilot if they meet your criteria.
Alternatively you could only allow selected users/groups to Join Devices to Azure under "Device settings" and then add Autopilot users to that group.
If you would like to leave product feedback to extend these options to fit your scenario, you can do so in the feedback forum. https://feedback.azure.com/
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