@Jonathan Telling, Thanks for posting in Q&A.
Q1. Will these two object merge at some point, if so, when?
A1. Typically, these objects do not automatically merge. The creation of two separate objects happens because the device was initially Azure AD joined and then later enrolled into Intune, creating a separate entry for the Intune enrollment.
Q2. If not, if there a way to merge them?
A2. Unfortunately, there isn't a direct way to merge these objects manually. However, you can try removing the device from Azure AD and Intune, then re-enrolling it.
Q3. Why were two objects created?
A3. Two objects were created because the device was first Azure AD joined and then enrolled into Intune. This results in separate entries for each action: one for the Azure AD join and another for the Intune enrollment
To achieve your goal, you can remove the device from both Azure AD and Intune and try to re-enroll the device into Intune directly from the device settings. This should create a single object that is both Azure AD joined, and Intune enrolled.
If someone incorrectly deletes an Intune device object, you can re-enroll the device into Intune without needing to recreate the VM.
https://call4cloud.nl/2020/05/intune-auto-mdm-enrollment-for-devices-already-azure-ad-joined/
Non-official, just for reference.
Hope above information can help you.
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