This is enabled by default, anyone within the same organization can see everyone else's availability info. The domain doesn't matter, as long as they are in the same tenant.
The only thing you might want to adjust is the level of detail exposed, i.e. if you want not just the availability info exposed, but also details about the meeting subject and location. You can do this by adjusting the permission level on the Default principal via the Set-MailboxFolderPermission cmdlet: https://learn.microsoft.com/en-us/powershell/module/exchange/set-mailboxfolderpermission?view=exchange-ps