The local PC and remote PC must be in the same Azure AD tenant.Remote connections to an Azure AD-joined PC from an unjoined device or a non-Windows 10 device are not supported. Your local PC (where you are connecting from) must be either Azure AD-joined or Hybrid Azure AD-joined if using Windows 10, version 1607 and above, or Azure AD registered if using Windows 10, version 2004 and above.Remote connections to an Azure AD-joined PC running earlier versions of Windows 10 are not supported. Both PCs (local and remote) must be running Windows 10, version 1607 or later.Starting in Windows 10, version 1809, you can use biometrics to authenticate to a remote desktop session. Starting in Windows 10, version 1607, you can also connect to a remote PC that is joined to Azure Active Directory (Azure AD).
From its release, Windows 10 has supported remote connections to PCs joined to Active Directory.