Onboarding servers - mgmt domain

Hi, 

I would like to ask, if there is way how to solve onboarding(AAD Join) of servers from different on premise ad domain which is not synced through ADD Connect? There is Hyper-V cluster where all nodes are joind to mgmt.contoso.com domain. This domain is just for Hyper-V cluster and is completely separated from production domain(contoso.com). There is AAD Connect for production domain and all computers and servers are hybrid joined. 

I onboarded one of Hyper-V server and there is an error "MDE Enrolment status: