You can 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
You can stand up a new one for replacement.
The two prerequisites to introducing the first 2019 or 2022 domain controller are that domain functional level needs to be 2008 or higher and older sysvol FRS replication needs to have been migrated to DFSR
I'd use dcdiag / repadmin tools to verify health correcting all errors found
before starting any
operations. Then stand up the new 2019, 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, when all is good you can decommission / demote old one.
Then also check the DHCP server hands out the correct addresses of new domain controllers.
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