thank you, much appreciatedThis should help for not having a AHDJ:
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Tutorial - Enable co-management for internet devices - Configuration Manager
Learn how to configure co-management for new internet-based Windows 10 or later devices by using Configuration Manager and Microsoft Intune.docs.microsoft.com
thanks,no, you can not! computer has to be AD and AAD joined for Co-Management to work. Mirosoft document is pretty detailed
for ADFS
for your testing use controlled validation for Hybrid join. https://docs.microsoft.com/en-us/azure/active-directory/devices/hybrid-azuread-join-control