Azure AD joined devices can be also co-managed. If you move all the workloads to Intune, the device will be fully managed by Intune, but you will able to deploy applications from ConfigMgr and Intune at the same time. Like Jason mentioned, if you don't move those workloads, Intune won't be able to push any policies to devices.
How about use dynamic update?
https://docs.microsoft.com/en-us/mem/configmgr/core/clients/deploy/about-client-settings#bkmk_du
https://techcommunity.microsoft.com/t5/windows-it-pro-blog/the-benefits-of-windows-10-dynamic-update/ba-p/467847