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Your Domain Controller(s) are not registering with a DNS server correctly.
Check the Domain Controllers IP settings, and ensure it's pointing at INTERNAL DNS servers
Check the IP settings of the machine you are trying to join. If it's static, ensure it's pointing at INTERNAL DNS servers that the Domain Controller is pointed at
Ensure that your DNS server is enabled and configured correctly
Furthermore - have you used netdiag or dcdiag?
Hope this information can help you