Share OneDrive Business / Sharepoint folder without having to sync?

We are using Office 365 to go live with an intranet.  We want this configured so that users an access shared document libraries associated with their department.  So if a planning user logs in to the intranet they can navigate to the planning page and see their Planning document library.

We also want this library to appear in Windows Explorer via OneDrive.  We've managed to do this by creating the document library and click the Sync button available in Sharepoint.  When this is done the folder appears in the OneDrive folder in Windows Explorer.

Is there a way to have the folder appear in Windows Explorer without the user having to log in and press the Sync button?  Some of our users do not use the intranet so we'd like then not to have to do this.  Shared folders would just "appear" if they had access to it