APM integrate with Azure Intune

First you need to create the  DNS Resolvers with the "." as a forwarding zone in order to forward all the traffic to the DNS server which you have in your environment (as showing in the first screenshot) then you will create the endpoint authentication profile with the tenant ID (please note that tenant ID will be your account with Microsoft), client ID and client secret which you have it from Microsoft intune after registering the application.

Hope this will help you to solve the issue.