Hello @jpcapone,
I'm glad that you were able to resolve your issue and thank you for posting your solution so that others experiencing the same thing can easily reference this! Since the Microsoft Q&A community has a policy that "The question author cannot accept their own answer. They can only accept answers by others ", I'll repost your solution in case you'd like to "Accept " the answer.
Issue: Devices onboarded to Intune are not showing up in Microsoft Defender
Solution: Resolved by @jpcapone.
Below are the steps followed by @jpcapone.
The DNS filtering tool used on your lab network was filtering out certain Microsoft endpoints so apparently the connection couldn't be made. After changing the DNS on the client NIC to use an external DNS server and all test devices joined successfully.
If you have any other questions or are still running into more issues, please let me know. Thank you again for your time and patience throughout this issue.
Please remember to "Accept Answer" if any answer/reply helped, so that others in the community facing similar issues can easily find the solution.
Thanks,
Raja Pothuraju.