Hi @Shekhar Kembavi ,
Yes, you can merge two AD domains into one 365 tenant with Azure AD Connect .
Here is a similar thread about the important steps of merging company mailbox domains for your reference:Forest and Exchange Online Migration, Company Merge - Microsoft Q&A
(kindly note: You can skip the step where AD B reverse-synchronizes to A)
If the answer is helpful, please click "Accept Answer" and kindly upvote it. If you have extra questions about this answer, please click "Comment". Note: Please follow the steps in our documentation to enable e-mail notifications if you want to receive the related email notification for this thread