Which OS? I did macOS Intune to Jamf 3 years ago and starting to move our iOS estate from Intune to jamf
It appears we have 10.13.6 to 10.15.5 enrolled in Intune at the moment. It's a mix of BYOD and company owned.
So for macOS you have 3 route to move devices.
1). Pure DEP, this will require a rebuild of each device and setup in Apple Business Manager
2). User enrolled URL, this is where a user goes to a jamf URL to enrol their device. This method would require the user to approve the MDM
3). QuickAdd package, this is being deprecated so not really advised. This method would require the user to approve the MDM