Should Single Sign on Server be joined to a Domain?

I am installing Single Sign on Server on a separate VM from vCenter Server.  The plan was to install Single Sign on First, get vCenter Server connected to it, get everything working, then join both systems to the domain.  However, when installing Single Sign on Server, if the system is not joined to a domain, you get the message that "This machine is no joined to an Active Directory Domain.   Automatic discovery of identify sources and authentication using Security Support Provider Interface will not work."

If I try to join the SSO server to the domain later, will that cause issues?  Am I better off joining to a domain prior to installing SSO or does it matter?

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