Computer Discovery in PDQ Inventory

We have a bunch of computers we are managing with Intune/Microsoft Endpoint Manager. I'm wondering how others are handling discovery of the devices. 

# Define the ports to be opened
$InventoryPort = 30301
$DeployPort = 9722

# Create an array with the port numbers
$Ports = @($InventoryPort, $DeployPort)

# Loop through the array and open each port
foreach ($Port in $Ports) {
  New-NetFirewallRule -DisplayName "Open Port $Port" -Direction Inbound -Protocol TCP -LocalPort $Port -Action Allow
}

Would a powershell like this work to make sure all ports that PDQ need are open? How does the Discovery process work? 

Also, can a discovery be set up to run regularly each day to collect them? I really wish I could just pull DHCP information and attempt to add them from there.