@Saad Farooq , If you have an on-premises Active Directory environment and want to join your AD DS domain-joined computers to Azure AD, we still suggest to do hybrid Azure AD join.
But if we don't want to use on-premise domain in the future, we can consider to just using Azure AD join by unjoining the device from on-premise domain, enable auto-enrollment, then do Azure AD join under Access work or school to trigger Intune enrollment.
But as a reminder, when we disjoin the device from on previous domain, the previous user profile will be removed. We will need to login using the Azure AD account with a new profile.
For Intune enrollment method, you can also choose other one. Here is a link with the enrollment method for the reference:
Hope it can help.
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