There are some straightforward third-party tools available that can help you sync your folders/files from local/cloud/server to Onedrive/SharePoint :

One such tool is GS Richcopy 360, which is a powerful file replication and synchronization software that can sync specific folders to OneDrive and other cloud storage platforms. This tool offers several features such as real-time sync, multi-threaded file transfer, and file filtering options. You can set up the tool to automatically sync your chosen folders at regular intervals or manually when you need to.

Another option is AllwaySync, which is a reliable and easy-to-use file synchronization software. This tool can sync files and folders between your computer and OneDrive, as well as other cloud storage platforms. It offers a range of synchronization options, including one-way syncing, two-way syncing, and manual syncing.

Both tools offer free and paid versions, so you can choose the option that suits your needs. These tools can help you sync specific folders to OneDrive without having to manually copy them, saving you time and effort.