1. Configure Azure AD Connect for Azure AD Hybrid Join using the setup/configuration wizard
2. Enable “Register domain-joined computers as devices” via Group Policy under Computer Configuration > Policies > Administrative Templates > Windows Components > Device Registration.

https://www.adamfowlerit.com/2018/08/azure-ad-hybrid-joined-devices-overview/

https://docs.microsoft.com/en-us/azure/active-directory/devices/hybrid-azuread-join-managed-domains

Errors:

https://www.reddit.com/r/sysadmin/comments/c90rgw/autopilot_error_0x801c03f3_device_identifier_not/