@Richkm , Based on my research, Currently, we can only send the notification after a schedule days.
https://learn.microsoft.com/en-us/mem/intune/protect/quickstart-send-notification
For your feature to send notification whenever a user sign in the non-compliant device, I find there's no such feature now. You can feedback to Intune uservoice to request this feature to see if we can have this in the future.
https://feedbackportal.microsoft.com/feedback/forum/ef1d6d38-fd1b-ec11-b6e7-0022481f8472
As a workaround, you can configure conditional access to block non-compliant device to access corporate resource to remind them.
https://learn.microsoft.com/en-us/azure/active-directory/conditional-access/concept-conditional-access-policies
Thanks for your understanding and have a have a nice day!
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