Hi, thanks for your question!
Regarding your query about imaging Autopilot devices, we do not recommend imaging devices if you are planning to move to Modern Management through Autopilot. Instead, we advise using the OEM-optimized version of Windows that comes pre-installed on the device.
You can configure the required applications and policies to be installed during Autopilot through Intune. For further guidance, please refer to this Autopilot overview guide: https://learn.microsoft.com/en-us/autopilot/overview
Hope this helps!