Hello ogo-2020,
Thank you for posting in our Q&A forum.
I think your requirements can be achieved.
So in your case, the PKI structure is like:
Root CA is not in any domain (offiline standalone root CA and even without Internet).
Two sub CA servers are in domain named staff.domain.com.
One sub CA server is in domain named public.domain.com.
Domain staff.domain.com and public.domain.com are different domains without trust.
Here is a similar thread for your references.
https://social.technet.microsoft.com/Forums/windowsserver/en-US/7be51ccb-e15a-4098-b4ef-bb82980ece9c/can-we-use-single-root-ca-for-two-different-forests#:~:text=Yes%2C%20this%20configuration%20is%20possible.%20You%20will%20need,in%20ForestA%20and%20SubCA-B%20is%20installed%20in%20ForestB.
Tip: Please set up such PKI structure in test lab first and if there is any error or issue, then you can deploy it in production environment.
Hope the information above is helpful. If you have any question or concern, please feel free to let us know.
Best Regards,
Daisy Zhou
============================================
If the Answer is helpful, please click "Accept Answer" and upvote it.