Hi Mohamed, thanks for posting.
There could be multiple reasons (Intermittent connectivity issues to Domain, DNS failures, etc) for trust issues and its common in Directory service infra.
Azure ADDS primal goal is not intended for on-prem device management or as a direct replacement for Windows AD. Azure AD DS provides a way to move applications that require authentication methods like Kerberos and NTLM, into Azure without extending an on-premises AD directory to Azure.
Having said that, you can still technically use this for adding on-prem machines to Azure ADDS provided reliable connectivity.
Are you facing this problem across your on-prem servers/workstations or selected few. ?
Is the VPN connectivity is stable and verified from firewall end for any port blocks ?
https://learn.microsoft.com/en-us/azure/active-directory-domain-services/network-considerations