Convert from Azure Registered to Hybrid AD Join with ADFS

Hi samppp 

i think you’re asking two questions, the first one is converting Azure AD Registered devices to Hybrid Azure AD. The second one is authenticating to Azure AD instead of ADFS farm.

Question 1- You need to use GPO if the devices are joined to the domain. If not joined, you need to manually enroll it. 

https://cloudbymoe.com/f/enrolling-workstations-to-intune-using-gpo

Question 2- You need to change the setting in your ADConnect to select different Sign in method like Password Sync, Passthrough or Seamless Single Sign On, here is a great post I used back in the day to move away from ADFS. 
https://www.core.co.uk/blog/blog/replace-adfs-seamless-sign-on?hs_amp=true

Hope this helps!

Moe