different locations, domains and office 365 , one azure AD and onpremise AD

Yes, however I would suggest you engage a local consultant or partner that specialises in Office 365 to achieve this, as doing it on your own with no experience of tenant migrations is very dangerous.

There's a few aspects to this:
- you will need a third-party tool like MigrationWiz to migrate mailboxes between tenants, and possibly something like Sharegate to migrate SharePoint. Content in Teams, Yammer, PowerApps, Flow - cannot be migrated.
- if all users are being migrated into location D that is syncing AD with Azure AD then you'll need to make sure user accounts are provisioned in AD and set up with the correct UPNs
- there *will* be downtime, both for services (ie. mail flow, file access, etc.) and for users (re-configuring desktops/laptops and mobile devices)
- your users *will* experience issues regardless how smooth it all goes, so make sure your service desk is prepared

You'll probably get a lot of advice on here about how to do this, what tool to use, etc. My biggest piece of advice would be to engage someone to actually perform this for you who has experience in O365 tenant to tenant migrations and has done it numerous times. Simply having performed general O365 migrations is not enough, as tenant to tenant brings more risks and challenges.