Intricate nature of magnetism in uranium-based Kondo lattices is a consequence of correlations between U-5$f$ and conduction electrons. Using linearized quasiparticle self-consistent GW plus dynamical mean-field theory, we demonstrate a crossover from incoherent to coherent $f$-$d$ Kondo cloud in the paramagnetic phase of UTe$_2$ with reduced volumes, USbTe and USbSe. As the transition occurs, we observe an augmented $f$-$d$ coherence and Pauli-like magnetic susceptibility, with a substantial frozen magnetic moment of U-5$f$ persisting. We show that momentum dependent $f$-$d$ hybridization is responsible for the magnetic moments arising from the renormalized $f$ electrons' van Hove singularity. Our findings provide a unique perspective to explain the dual nature of magnetism and the long-range magnetic ordering induced by pressure in UTe$_2$.
