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PowerShell to list all groups, members and user from azure active directory

Good afternoon everyone.
I need your help. I am a novice in PowerShell. I need to list all groups, members and users from azure active directory or office exchange. Basically, this is to enable me audit the AD and remove old users from groups or removed groups that are empty. The column I would need are:
GroupName, Users, Guid, Users email address and role.

Would be greatful for your assistance.

Thank you in advice.