Hi
For MFA you can use different solutions like the one you said or Duo Security.
I'm not very familiar with Azure mfa but between Google auth and Duo, if you need push, Duo is the way to go.
For both solutions you can have different configuration. For example, with Google auth you will keep a standard radius config on your router for example and your radius will communicate behind the scene (no need to have specific config).
For Duo, for simplicity, you can use a duo vm acting as a proxy which will validate credentials against your AD and then push a text or popup to your phone that you need to validate. In terms of Cisco config, it stays like a "normal" radius config referring this duo machine.
The final answer is yes you can do mfa and configure your device with a standard config. The"magic" occurs behind the scene and you don't need to have ISE for this.
Thanks
Francesco
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