Hi @Jeremy Johnson • Thank you for reaching out.
I would suggest you go with Azure AD Join if your only requirement is to allow users to use their account password to sign in to different computers and you don't need group policies.
To join windows 10 to Azure AD, you can use the Free version of Azure AD. No Premium P1/P2 is required for this purpose. Once the devices are joined to Azure AD, users can directly sign in to the joined devices using their Azure AD user account credentials. This option is definitely cheaper than using On-premises AD or Azure AD Domain Services (managed domain).
P1/P2 is required If you want to use any premium features like Conditional Access, Identity protection, and so on. Refer to Azure AD Version Comparison.
Read more: https://learn.microsoft.com/en-us/azure/active-directory/devices/azureadjoin-plan
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