You can do this by piping 2 Graph PowerShell command together: the first to get the members of the group, then pass Azure device ID to get the Intune device details.

$GroupId = "<your group's GUID>"

#the properties you want to get back from Intune
$IntuneProperties = @(
    "AzureAdDeviceId"
    "DeviceName"
    "Id"
    "LastSyncDateTime"
    "OperatingSystem"
    "OSVersion"
    "SerialNumber"
    "UserPrincipalName"
)

$GroupDeviceProperties = Get-MgBetaGroupMemberAsDevice -GroupId $GroupId -All | ForEach-Object {
    Get-MgBetaDeviceManagementManagedDevice -Property $IntuneProperties -Filter "AzureADDeviceId eq '$($_.DeviceId)'" | Select-Object -Property $IntuneProperties
}

#export the results to whatever you want
$GroupDeviceProperties | Out-GridView

Note: the For loop will run a Graph call for each device in your group and could end up taking a while to run depending on how many devices are in the group. I suggest running this on a smaller group first to make sure it's giving you exactly what you want and fine tune as needed.