Sorry, I missed the word "physically" in your question.
You could use Disk2vhd
to create a vhd-file from a disk of a physical computer:
https://learn.microsoft.com/en-us/sysinternals/downloads/disk2vhd
This created vhd-file could be used to create a VM in Azure with the steps in my first answer.
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Regards
Andreas Baumgarten