Difference between Azure AD Registered Azure AD joined

Difference between Azure AD Registered Azure AD joined

Azure AD Joined is for
Corporate owned and managed devices
Authenticated using a corporate id that exists on Azure AD
Authentication is only through AAD.

AAD Registed Device is for
Personally owned corporate enabled
Authentication to the device is with a local id or personal cloud id
Authentication to corporate resources using a user id on AAD.

As you can imagine things have gone wild in the modern workplace world lately. Everyone being forced to work from home has accelerated adoption of working remotely. One thing I have noticed recently is there seems to be a bit of confusion between a device that is Azure AD Joined and Azure AD Registered.

Can a user created in cloud ( ms365) log in to a computer local ADJoined with cloud credentials ?

Just one thing to know why there is difference when we say register to joined why can't it be same in both the cases and secondly if u want to use SSO in register and joining case why we need to use local accnt for registering and corporate acc for joining

This MFA process for windows 10 devices is for cloud apps. How about these days new laptops in market have local o365 desktop apps. how can we have MFA turn on for them instead of company portal.