Note that if you are using ADFS for your Azure AD integration only to be able to use DUO, you might be able to do without ADFS. You could use Azure AD Connect Seamless SSO and use the Azure AD/DUO integration.
We can create such rule. It would use the "legacy" way to do it and not the current Access Control Policies. But it would affect other clients. Enterprise Active Sync can use the same endpoint, and so are other legacy applications. So by white-listing this scenario you might allow others.
Ideally we would do everything is Azure AD in Conditional Access Policies. That is the recommended way. Anything else than this is really a gadget workaround with security risks.
That said, in order to minimize the exposure as much as we can, we can try to fine tune the exclusion to a User Agent String, or other connection metadata. In order to do this, you will need to capture all the claims you get on one of this request and share it here. In order to have all the claims of your request in the eventlogs, you will need to enable the verbose audit. You will find the info here: https://learn.microsoft.com/en-us/windows-server/identity/ad-fs/troubleshooting/ad-fs-tshoot-logging.