Yes, it is possible to print from Azure AD joined devices, but single sign-on (SSO) may not work.
When a user logs in to an Azure AD joined device, the authentication for the user occurs in Azure AD and a token is issued by Azure AD. However, in your setup, the print server is connected to Azure AD DS. To access the print server in Azure AD DS, an authentication token issued by Azure AD DS is required.
When the user accesses the print server, the printer will expect the authentication token issued by Azure AD DS. Since the token issued to the user is issued by Azure AD and not Azure AD DS, this token will not be accepted. As a result, SSO will not work, and the user will be prompted to enter their credentials.
Let me know if you have any further questions on this.
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