add sharepoint sync via CLI

How do I sync an Office 365 Sharepoint/OneDrive via command line?

I have this URL https://<tenant><SharePointName>/<LibraryName>/<Folder> and I want to add this link to the local OneDrive sync service with a command line/powershell command

I’ve found sources which suggest to use

start "odopen://sync/?siteId=GUID&webId=GUID&listId=GUID&userEmail=$upn&webUrl="

but it is not clear to me where to get the different ids from. My tests always crashed the OneDrive sync service