Register Device Step 2
So the next step I did wrong and it caused me headaches for about 24 hours until I contacted support to see what I was doing wrong. I was following the steps laid out on this website below and I went from the top of the site and followed the instructions, not knowing a bit further down on the web page was the correct steps I needed.
You have to click the LINK in pop up window to register with Azure AD
The difference in the join is as shown below. If done incorrectly you will see the system listed as Azure AD Registered, your goal is to see them as Azure AD Joined.