You can seize FSMO roles in Active Directory Domain Services
(if necessary) to healthy one. then perform cleanup to remove remnants of failed one from active directory.
Clean up Active Directory Domain Controller server metadata
Step-By-Step: Manually Removing A Domain Controller Server
Then rebuild the failed one from scratch. I'd use dcdiag / repadmin tools to verify health correcting all errors found
before starting any
operations. Then stand up the new one, patch it fully, license it, join existing domain, add active directory domain services, promote it also making it a GC (recommended), transfer FSMO roles over (optional), transfer pdc emulator role (optional), use dcdiag / repadmin tools to again verify health.
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