Let's walk through creating a standard Build VM
Step 5 - Join VMs to the domain
Initial documentation on this topic can be found here. This is sort of a funny step because your machines should already be on the domain. you should be using a VM template of some sort that is already on the domain. The only actionable thing here should be to add your Contoso\svc-AXSF$ and Contoso\AXServiceUser users to be local administrator group for all VMs involved.