Hi @Evan Stover
To access Microsoft Endpoint Manager admin center->Devices->Enroll device->Automatic Enrollment, and check if the MDM URLs are there. If not, click "Restore default MDM URLs" to see if we can get the URLs.
Your question is already answered in Q & A.
https://learn.microsoft.com/en-us/answers/questions/233349/mdm-server-url-for-non-workgroup-devices-enrollmen.html
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