Action Details
Requirements and how-to articles for Xbox's action:

After joining the ID@Xbox program, contact Microsoft to discuss your game and request the required SDKs, documentation and dev kits (approved Xbox One developers receive two kits free of charge.) When releasing your title on Microsoft platforms you'll be able to publish, certify, and update your game without cost.

You need this to get it done:

Contact Microsoft
Reach out to Microsoft and they will sign an NDA and discuss your game, whether you'd like to ship your game on Xbox One, and Windows 10 with Xbox Live, or add Xbox Live to your iOS or Android title
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How-To Articles
A list of useful links for you:

Microsoft Studios Game Submission Policy
The policy which you agree to when contacting Microsoft about your game.
Independent Developers Program for Xbox One
Information and FAQ regarding the ID@Xbox program.
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