AFAIR, both HDFC and ICICI does support. There could be a time lag or seeding error. For HDFC, joint holder need to have DC though. For some banks, like RBL, even joint holder don't require a DC to link their joint account and set pin by aadhar verification if he have alternate account in same bank.
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Telling from experience after linking atleast 12+ accounts myself using aadhar. This is the first thing I do.