Add authentication to enrollment
In evaluating other MDM services, I've found that enrollment that requires some kind of end-user authentication automatically satisfies the User Approval portion of MDM enrollment when initiated using DEP.
This is, of course, in addition to the security concerns of anybody with a DEP-included serial being able to enroll without authentication.
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SimpleMDM currently supports LDAP authentication during DEP enrollment. Starting with iOS 13 and macOS 10.15, SAML authentication is also supported during DEP enrollment.