@Dale Peterson , From your description, it seems we are using path 1: Enable co-management for existing Configuration Manager clients.
https://learn.microsoft.com/en-us/mem/configmgr/comanage/quickstart-paths
We can follow the steps in the following link to enable co-management.
https://learn.microsoft.com/en-us/mem/configmgr/comanage/tutorial-co-manage-clients
After the device is co-managed, we can consider switching the workloads to Intune. Here is a link for the reference:
https://learn.microsoft.com/en-us/mem/configmgr/comanage/workloads
Hope it can help. If there's still anything unclear, feel free to let us know.
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