Azure AD Sign-in Error 53001

Error 53001 - Conditional Access policy requires a domain joined device, and the device is not domain joined. Have the user use a domain joined device

About Azure Activity sign-in activity reports:

Azure Active Directory's (renamed as Entra ID) reporting tool generates 'Sign-in activity' reports that give you insights on who has performed the tasks that are enlisted in the Audit logs.

• All Sign-in activity reports can be found under the Activity section of Azure Active Directory.
• The default list view of Audit logs can be customized by adding additional fields.
• The reports can also be filtered to let you view only the activities that are relevant. 
• Here is an example of how a sign-in activity report looks like:

  

Error description:

Sign-in failed because the user needs to use a device that is part of the domain and the provided device is not part of the domain

Auditing Azure AD environments with ADAudit Plus:

ADAudit Plus offers change monitoring for your Azure AD environment with the following features:

• Correlated view across hybrid environments
• Real-time alerts
• Schedulable reports
• Autonomous change remediation
• Comprehensive search
• Out-of-the-box compliance reports