The above is something that is happening during Windows setup. As noted, it's difficult at best to determine why the domain name is not found when the join is attempted during Windows which occurs during the Setup Windows and ConfigMgr task but network related connectivity issue is a typical culprit.
As for locating a DP and MP without joining the domain, yes, ConfigMgr doesn't require systems to be domain joined. You cannot move or disable the Setup Windows and ConfigMgr task though as other items in TS depend on Windows setup being completed successfully. You could change the Apply Network Settings task to not specify a domain and then add a Domain Join task to the end of the TS. I don't suggest doing this though as it is simply addressing a symptom and not the issue.