this is great article about this:
https://tech.xenit.se/join-windows-10-computer-azure-active-directory/
and this can help you
https://learn.microsoft.com/en-us/azure/active-directory/devices/device-management-azure-portal
https://learn.microsoft.com/en-us/intune-user-help/sync-your-device-manually-windows
and one more:
https://www.prajwaldesai.com/join-windows-10-device-to-azure-ad/