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What is the best way to managed devices centrally in the cloud when we have 20 different AD domains and we have several offsite users?
Confirming and building on Jason_Sandys comment:
You should seriously consider disconnecting all PCs from their local ADs and JOIN them to Entra/Intune/M365 only. Whether by manually disconnecting each PC and then re-joining (I doubt this is a good method for you) or re-deploying them fresh from the cloud remains to be seen.
Hybrid management does not simplify things in our experience, it makes it worse. You have TWO environments to deal with now: AD + Entra/Intune. While ensuring they play nice with each other.
These days, MSFT recommends Entra/Intune joined PCs only - not hybrid joined, if any way possible.
Even with Entra join only, you will still have access to AD-based resources, but management will be fully centralized.
As an MSP, I would strongly advise against a hybrid configuration.
I believe you'll be very pleasantly surprised at the new abilities you gain with cloud-only endpoint management.