The Trial version of TeamViewer or TeamViewer license to integrate Intune.
Also, user or device groups assigned an Intune role within a scope can also request remote assistance. Any Intune role within a scope does not limit users with this role.
Request Remote Assistance: Allows administrators to start a new remote assistance session for any user.
Update Remote Assistance: Allows administrators to modify the TeamViewer connector settings.
I would recommend reading Microsoft documentation about the prerequisites and Intune RBAC roles. The Intune administrator within the Azure portal must have following Intune roles. Intune Remote Assistance with TeamViewer Prerequisites You will see more details about Intune remote assistance. TeamViewer integration with Intune helps IT Pro to provide remote assistance for Windows, iOS, and Android devices. This TeamViewer integration gives an out of box experience from Intune console. TeamViewer has options integrate with Intune. IOS, Windows, and Android Devices managed by Intune can be administered remotely using TeamViewer.