When you RDP to the jump server, are you logging in with a domain account or a local account? I see that you are passing credentials on the cmdlet that is failing, but I don't know what else the script does. When you configure the ServiceNow "task" do you define a user id to run the process as, similar to the Windows task scheduler? Can you configure it to run with whatever account you RDP to the server with?
You could try temporarily creating a local account and test the script with that. I would expect SN to be running as a service probably as System or LocalService. The local account would mimic the AD access of those accounts.
Use Test-NetConnection to verify that the firewalls don't block access to the domain controllers. I would also test with PS's Get-ADUser instead of the Quest module.
There are a number of hits for that error. You might want to look through these.