In addition to the two articles you’ve posted above, you may also find the following guides helpful:

Create and configure groups for Role-Based Access \ Add an Entra ID Group:
https://docs.beyondtrust.com/bips/docs/role-based-access#add-an-entra-id-group

Entra ID SAML single sign-on:
https://docs.beyondtrust.com/bips/docs/entra-id

SAML using Entra ID App:
https://docs.beyondtrust.com/bips/docs/saml-entra-id

Configure Functional Account Requirements in Entra ID:
https://docs.beyondtrust.com/bips/docs/bi-configuration

Create and edit directory credentials \ Create an Entra ID credential:
https://docs.beyondtrust.com/bips/docs/authentication-directory-credentials#create-an-entra-id-credential

Use an Entra ID Smart Rule:
https://docs.beyondtrust.com/bips/docs/work-with-smart-rules-cloud#use-an-entra-id-smart-rule

Hello ​@SugunaRajalakshmi 

We don’t have any documentation specific to onboarding Entra ID joined assets 

Please have a look at our documentation on adding assets to Password Safe.

https://docs.beyondtrust.com/bips/docs/bi-cloud-assets

The workflow is:

Add Asset.

Add the functional account.

Add the asset managed systems

Configure managed system settings (Smart Rule)

Add the managed accounts

Setup Role Based Access to managed accounts.

If you  have any additional questions please let me know.