Best way to join AzureAD devices to Intune

Any suggestions on best way to join AzureAD devices to Intune.

Users do not have admin access and are synced from Onpremises to AAD.

I need to have zero user interaction as I am using RMM tool to deploy the scripts.

tried below :

$key = 'SYSTEM\CurrentControlSet\Control\CloudDomainJoin\TenantInfo\*'
$keyinfo = Get-Item "HKLM:\$key"
$url = $keyinfo.name
$url = $url.Split("\")[-1]
$path = "HKLM:\SYSTEM\CurrentControlSet\Control\CloudDomainJoin\TenantInfo\$url"

New-ItemProperty -LiteralPath $path -Name 'MdmEnrollmentUrl' -Value 'https://enrollment.manage.microsoft.com/enrollmentserver/discovery.svc' -PropertyType String -Force -ea SilentlyContinue;
New-ItemProperty -LiteralPath $path -Name 'MdmTermsOfUseUrl' -Value 'https://portal.manage.microsoft.com/TermsofUse.aspx' -PropertyType String -Force -ea SilentlyContinue;
New-ItemProperty -LiteralPath $path -Name 'MdmComplianceUrl' -Value 'https://portal.manage.microsoft.com/?portalAction=Compliance' -PropertyType String -Force -ea SilentlyContinue;
C:\Windows\System32\deviceenroller.exe /c /AutoEnrollMDM

However got an error when trying to run deviceenroller through RMM : 
"DeviceEnroller.exe" is not recognized as an internal or external command

though I was able to run the command from the client directly but nothing is happening and endpoint is not appearing in Intune after few hours.

Intune_Support_Team