Hi,
Azure AD Connect only synchronizes users to domains that are verified by Office 365. If your internal AD DS only uses a non-routable domain, this can't possibly match the verified domain you have on Office 365. You can fix this issue by either changing your primary domain in your on premises AD DS, or by adding one or more UPN suffixes.
Here is the nice article explains, how to add UPN suffixes and to move forward with the directory synchronization.
https://learn.microsoft.com/en-us/office365/enterprise/prepare-a-non-routable-domain-for-directory-synchronization#add-upn-suffixes-and-update-your-users-to-them
Regards,
Manu