I can confirm that we have this on our plan for early in 2020/ Thanks for your patience!
An error occurred while saving the commentCharles Roller commented
You should be using Intune with at least Azure AD P1, preferably EMS E3 for the best experience. That being said, the device does need to be Azure AD Joined or Hybrid Azure AD Joined to receive the management agent. A regular Intune enrollment through the company portal or device settings only does an Azure AD Register and hence, no management extension.