You need a license to join a device, yes:
https://learn.microsoft.com/en-us/azure/active-directory/devices/faq#why-do-i-see-the--oops--an-error-occurred---dialog-when-i-try-to-azure-ad-join-my-pc
and from this, one to logon to it as well:
https://www.reddit.com/r/Intune/comments/fgudam/which_license_is_needed_to_login_into_a/
Correct. To get policies, configurations, apps, company portal, etc the user logging in must be licensed.
Scenario:
User A is licensed enrollment user
User B is a normie with no license
Provision a computer (autopilot, manual AAD join, OOBE, whatever) and User A logs in. Policies are applied apps installed, and whatever else is configured in InTune. Then, User B logs in. It will copy what it can based off of what was set by InTune in the defaultprofile to create new user profiles BUT will not be enforced.
Example: if you have a custom start menu with icons locked, it will be locked for a licensed user. An unlicensed user logs in and the icons are in the configured arrangement but user is able to edit them.
Another example; User A logs in and gets locked down screen/display timeouts
User B logs in and can modify those settings freely.
I understand why, but this is a gaping hole; if I set security policies via InTune and we forget to license one user, that user can bypass all policies and restrictions set by InTune just because they have no license. Even on devices used by 2+ people. The u licensed user basically get the same experience as if they were a standard user on a personal computer.
Think of InTune license as the classic user CALs for windows server and GPOs. You will need one for every single user that logs in, whom you’d want to apply and enforce configurations, apps, and policies.