Azure Ad joined device integration to Microsoft Intune

TechNabin 

If the device is AzureAD joined, it is by default Intune joined. You can find these devices under https://endpoint.microsoft.com/ and they will list them as either Corporate, or Personal.

Any devices in this portal are Intune joined.

For a brand new out of box laptop/desktop, you can join them to AzureAD/Intune by doing any of the following

- Logging in with a domain email address and password (providing the account meets all of the tenant conditions for allowing device join)

- Using Windows Autopilot device (determined at manufacturer or by using a powershell script on the device before deployment

- Using Windows Configuration Designer to prepare the device before deployment

Note that I use option 3 most of the time, and option 1 for one-off deployments. From a mass performance perspective you may want to look at option 2 or 3. 

To roll out the RMM agent (or any application in general) you use App Deployment in Intune (found in the https://endpoint.microsoft.com portal). Roll the msi out via App deployment policy. Intune will deploy to your Intune devices that meet the device/user membership policy.

So short answers aare

1) yes, AzureAD join is Intune managed by default

2) Yes Device needs to be prepped before deployment (Autopilot, Windows Config Designer, Manual login via OOBE)

3) Yes, App deployment via Intune to all AzureAD joined devices that meet membership policy