@Jason Mabry For Hybrid Azure AD joined device to enrolled into intune, we need to make sure the user account is synced to Azure AD and also we have Azure AD Premium and Microsoft Intune License assigned. Because the enrollment process starts in the background once we sign in to the device with our Azure AD account. We can see more details in the following link:
https://video2.skills-academy.com/en-us/mem/intune/enrollment/windows-enroll
https://video2.skills-academy.com/en-us/windows/client-management/mdm/enroll-a-windows-10-device-automatically-using-group-policy
Hope it can help.
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