iPhone stuck in MDM lost mode

I have an iPhone 7 that I manually supervised and enrolled in Intune MDM (I have admin access to said MDM). I put that iPhone in lost mode to test out the lost mode features. Intune's MDM lost mode prevents you from even entering the password (the home button clicks but nothing happens). The phone ran out of battery during testing and lost WiFi connection. I disabled lost mode in MDM but because cell data was turned off before lost mode was enabled and the battery reboot disconnected it from the WiFi, the update couldn't be pushed to the device. Is there a way to disable lost mode without a factory reset? iOS disables USB connections after a reboot so I can't access it via Apple Configurator.

I am able to restore if needed via iTunes but I'd rather not if possible.