The Windows Autopilot service release of 2307 introduced the ability to remove Autopilot devices in one step without having to remove the existing Intune device first. A nice welcome move which means if the device is removed from the Autopilot view, then it still continues to be Intune managed as the device is not removed from its enrolled state.
To remove the device from Autopilot head over to Devices\Windows\Windows Enrollment\Devices in the Intune portal.
Select the device you wish to delete and click the Delete option.
Confirm the removal by clicking Yes.
The device will report as Device record successfully deleted.
and be removed from the Autopilot blade.
Before deletion, the device will report as below in the Entra ID portal with a This device is a Windows Autopilot device banner.
Whereas post deletion, the banner has been removed and dynamic group membership relating to Autopilot grouping has also been removed.
The icon state for the device has reverted back to a standard Entra ID device.
rather than the Autopilot style of AP registered devices.
Behind the scenes, in Graph Explorer, we can see that the device no longer has an associated ZTDID, so group tag information will be automatically removed for the device as it is deleted from the AP view.
Whereas an existing AP device does.
SCCMentor - Paul Winstanley 
I am wondering when you would use this. What is the use case? Would it be so the device does not get enrolled after a reset?
Hi, what would be the use case for this? When you don’t want the device enrolled again after a reset?
@philready: Sometimes thing go wrong, and you want to start over. That’s one of the use cases I can think of.
And when recycling old hardware and you want to remove the device from your environment.