MDM Terms of Use endpoint is not correctly configured

I have three laptops and one desktop joined to Active Directory hosted on Azure. I am trying to join a new workstation to Azure AD using the email address of a person who has a laptop connected to Azure.

Here are my steps.

1. Connect to Work or School.
2. Connect.
3. Join this device to Azure Active Directory.
4. Enter user's email address and password.

I receive the following error when trying:

"Looks like the MDM Terms of Use endpoint is not correctly configured."

I've checked whether "Users may join devices to Azure AD" is set to ALL. (It is.) The number of devices per user is set to 20.

How can I join this workstation to Azure AD?