Ran into the same issue this week. Called support and after an hour we got nowhere. So, I kept trying different settings and finally found my way in.
In my case I was using my own account and I was by-passing kerberos authentication, so make sure the account you are using is a Domain admin (has permission to join/create computers in the domain) and is not by-passing pre-authentication.
The other issue was related to the domain name and username. For domain use the FQDN (mydomain.lcl). For user youraccount , don't use mydomain\youraccount format. Even though I've read that you can enter it like this, it did NOT work for me.
This 3 things fixed my issue. Now, all my hosts are on the domain.
Hope this helps...