In my weekend reading, I found a post that talks about a new feature which is in development for Microsoft Intune.
Enroll to co-management from Windows Autopilot
With this feature, you will be able to configure device enrollment in Intune to enable co-management, which happens during the Windows Autopilot process. This behavior directs the workload authority in an orchestrated manner between Configuration Endpoint Manager and Intune.
For more details check: https://bit.ly/3kRIwpi