既に確認されている通りだと思います。
Azure Active Directory Seamless Single Sign-On
https://autologon.microsoftazuread-sso.com
Seamless SSO needs the user's device to be domain-joined only, but it is not used on Azure AD Joined or Hybrid Azure AD joined devices. SSO on Azure AD joined, Hybrid Azure AD joined, and Azure AD registered devices works based on the primary refresh token.