@Engelhardt, Bryan, Thanks for posting in Q&A. Based on my researching, I think you can create a rule which enrollmentProfileName equals to the Windows Autopilot profile name the device enrolled with to automatically added these Autopilot enrolled devices into the group.
https://learn.microsoft.com/en-us/entra/identity/users/groups-dynamic-membership#rules-for-devices
Hope the above information can help.
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