Yes. One of the two paths to co-management is to bootstrap with modern provisioning. For a new or repurposed device, Autopilot joins it to Azure AD and enrolls it to Intune. Intune can then deploy the Configuration Manager client and enable co-management.
For more information, see How to prepare internet-based devices for co-management.
Note
You can't deploy the Configuration Manager client while provisioning a new computer in Windows Autopilot user-driven mode for hybrid Azure AD join. This limitation is due to the identity change of the device during the Azure AD-join process. Deploy the Configuration Manager client after the Autopilot process. For alternative options to install the client, see Client installation methods in Configuration Manager.