I read through the article.
This gives a very comprehensive information about UiPath side.
I am not familiar how things should be setup in Azure Portal.
I am not really sure what they mean by EndPoint in UiPath Activity:
Microsoft Dynamics Application Scope: One or more errors occurred. (An HttpListenerException occurred while listening on http://localhost:3001/callback/ for the system browser to complete the login. Possible cause and mitigation: the app is unable to listen on the specified URL; run ‘netsh http add iplisten 127.0.0.1’ from the Admin command prompt.)