Join Domain, While Domain Controller in Different Tenant

We have two companies which are related and use the same Active Directory / Domain Controller etc.

But the two companies are separate tenants within N-able and Immybot

All of our servers are in tenant 1 for N-able and Immybot

We now have created a separate Immybot deployment for company 2

I can’t exactly find from existing documentation if there is a way to utilize the domain controller of a different tenant to do the “set computer and join domain” task

Has anyone done a similar thing that has any advice ?