Do you try to reconfigure mailbox in Outlook on the domain-joined computer?
If you cannot reconfigure Outlook profile, could you tell use which step that you get this issue? I also suggest you provide a screenshot about the log of "Test Email Autoconfiguration" to us, it will also help us to narrow down this issue:
If you could recreate Outlook profile successfully but cannot open Outlook after configuration, or this issue occurs on step three (Log on the mail server) during configure Outlook profile, it means this issue doesn't related autodiscover. It may caused by the Outlook Anywhere/MAPI over HTTP in your organization, I would suggest you provide the result of command below to help us to narrow down the connection issue:
Get-OutlookAnywhere -Server exch2016 | fl *Hostname,*Authentication*,*Ssl
Get-OrganizationConfig | fl MapiHttpEnabled
Get-MapiVirtualDirectory -Server exch2016 | fl *Authentication*,*url
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