Per Microcrosotf recommendation that Azure AD join should be the first choice for new devices, we have deployed new machines to our RPA team, Microsoft indicates that
SSO to on-premise resources (like Blue Prism) can still authenticate.
https://learn.microsoft.com/en-us/azure/active-directory/devices/plan-device-deployment#azure-ad-join
These machines are currently not able to SSO into BluePrism [Sign in usng ActiveDirectory button is not present], after working with the BP support team it was indicated that BluePrism is looking for the domain once is executed and not finding the Azure AD machine in the domain.
type -AssemblyName System.DirectoryServices
$domain=[System.DirectoryServices.ActiveDirectory.Domain]::GetComputerDomain()
Write-Host "Current Domain: $($domain.Name)"
We need the BP app to be more flexible as more and more companies are moving towards Azure AD joined machines.