@Enterprise Architect, Thanks for posting in Q&A.
For Autopilot, we can set automatic enrollment to get the MDM discovery and compliance URL automatically.
The URLs can be found under MDM user scope:
https://video2.skills-academy.com/en-us/mem/intune/enrollment/windows-enroll
If you are not using automatic enrollment, you can create CNAME records for your MDM server. Here is a link with more details:
https://video2.skills-academy.com/en-us/mem/intune/enrollment/windows-enrollment-create-cname
Hope it can help.
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