Please check Roadrecon, MFASweep, AzureHound and Azure Active Directory - Rootsecdev
Install-Module AzureAD
First authenticate
$AzureAdCred = Get-Credential
Connect-AzureAD -Credential $AzureAdCred
PS C:\Users\Commando-B > Get-AzureADUser
ObjectId DisplayName UserPrincipalName UserType
-------- ----------- ----------------- --------
cb404750-4ae1-[REDACTED] John Do john.do@offsec.nl Member
b4e1ee94-0ad8-[REDACTED] Jane DO jane.do@offsec.nl Member
d2a782cb-838e-[REDACTED] Administrator admin@offsec.nl.onmicrosoft.com Member
PS C:\Users\Commando-B > Get-AzureADGroup
ObjectId DisplayName Description
-------- ----------- -----------
005863b2-5fea-[REDACTED] Testgroup 1 Just a test group
00ad7bf9-f06d-[REDACTED] Testgroup 2 Just another test group