There are three options that should be included to allow non-interactive joining to a Privilge Manager policy:
-a | --accept
indicate acceptance of the end user license,
/opt/quest/qpm4u/qpm4u_eula.txt
-b | --batch
run in batch mode, will not use colors or require user
input under any circumstances
-q | --pipestdin
If password is required, allow it to be piped to stdin
With these options, a command such as the following should be able to join the client without any input:
echo "password" | /opt/quest/sbin/pmjoin_plugin -a -b -q sudo_policy