Hi @WW-6729 ,
Shouldn't be a problem to install PowerShell 5.1 on just one of your Domain Controllers, it shouldn't cause any issues in the domain functionality itself.
For more information on installing newer PowerShell version, see:
https://learn.microsoft.com/en-us/powershell/scripting/windows-powershell/wmf/setup/install-configure?view=powershell-7.1
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Best regards,
Leon