Enable PowerShell Remoting From AAD joined Device
To enable PowerShell Remoting to AD Joined servers you need to run the following commands in Powershell Administrative console.
Set-Service -Name WinRM -Status Running -StartupType Automatic
Set-Item -Path WSMan:\localhost\Client\TrustedHosts -Value 'server1'
To append to the list in the future use -Concatenate at the end of the command. You can also specify multiple servers in the command by using 'server1,server2,server3'.
Now you should be able to remote to these servers from an Azure Joined computer.