Recently I had a client device that was connected to EntraID but was not setup for management via Intune. I was looking for a way to easily enroll the device Intune without resetting the device. What worked for me was the command below.

In a command prompt with system privileges, run the command below.

%windir%\system32\deviceenroller.exe /c /AutoEnrollMDM

You may also want to restart the computer after running the command.