Federated identity management using Active Directory Federation Services
Yep - you can connect your on-premises AD FS deployment to Microsoft Entra ID through Microsoft Entra Connect without deploying an AD FS Web Application Proxy server.
WAP is not required for Entra Connect or for the federation relationship itself. WAP is primarily used to publish AD FS to the internet so that external users can reach AD FS endpoints. If your AD FS servers are accessible only internally, Entra Connect can configure and manage the federation relationship without WAP.
However, if your goal is to have users authenticate through AD FS from outside your corporate network, then the AD FS endpoints must be externally reachable. In that scenario, Microsoft generally recommends using WAP or another appropriately secured reverse-proxy solution rather than exposing the AD FS servers directly to the internet.
For a typical setup, you would have your on-premises AD DS and AD FS servers, install Microsoft Entra Connect on a suitable member server, and select "Federation with AD FS" as the authentication method. Entra Connect then establishes the federation configuration between your AD FS infrastructure and Microsoft Entra ID. You do not need to install Entra Connect directly on the domain controller or AD FS server.
One important consideration is whether you actually need AD FS. If your objective is simply to synchronize on-premises identities to Entra ID and provide SSO, Password Hash Synchronization (PHS) or Pass-through Authentication (PTA) is generally simpler and avoids the additional AD FS infrastructure and external publishing requirements.
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hth
Marcin