@Nithyanandham Singaravadivelu, Thanks for posting in Q&A. Based as I know, "Authentication dependencies" is needed to ensure the authentication to pass. And if you will use Autopilot enrollment in your environment in the future, "Autopilot dependencies" part is also needed.
For future device managed with Intune, "Windows Push Notification Services (WNS) dependencies" is also required. And if you want to deploy Win32 app or PowerShell script to these devices, please also ensure these network requirements are met.
To enroll existing Microsoft Entra joined device, the general enrollment methods are not working. You can try the methods in the following link:
https://call4cloud.nl/2020/05/intune-auto-mdm-enrollment-for-devices-already-azure-ad-joined/
Note: Non-Microsoft link, just for the reference.
Hope the above information can help.
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