Switching Microsoft Entra Registered Devices to Hybrid Joined

Before implementing Hybrid Autopilot for our company, I was joining new devices via access work or school to enroll them into Intune.

I was unaware that we had automatic enrollment enabled for hybrid, so I have a handful of devices that are Entra Registered. I wanted to ask what would be the best option in getting these devices enrolled correctly.

Would using dsregcmd work for this situation?