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Someone else might chime in here but the only way I think you can do it now is to Create a New Hero as an NPC and choose a zombie or skeleton.
The only problem is that Undead Thralls doesn't have an adjustment to add the hit points and proficiency bonus to this new NPC. You would have to add other adjustments to the zombie and manually edit the hit points to reflect these adjustments.
It might be something to request having a new adjustment created that does this automatically.
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