Solution:

When entering the Intune configuration settings, The Tenant ID/Tenant Name and Client ID can be captured directly from the Application overview page in Azure. In the following screen capture, the properties on the App registration are displayed. 

The Application (client) ID and Directory (tenant) ID shown in yellow should be entered into the Intune settings directly. The Object ID that is highlighted in red is not the correct Principal (Object ID) to use. To retrieve the correct Principal ID, you must select the link under "Managed application in local directory". This is shown in green. Once the link is selected, the correct Principal ID (Object ID) is displayed, as shown below:

For additional information on Configuring Intune in App Broker, see  Entering Intune Settings at Initial Start Up in the Administration Guide