Hi, firstly let's not confuse Azure AD Domain Services (AAD DS) with Azure AD. These are two different services. AAD DS is a managed domain service which provides some features of traditional Active Directory but without the requirement to manage and maintain underlying virtual machines. Azure AD is a completely separate service to this.
You say the IP addresses are not reachable, how are you trying to connect? You will not be able to RDP to those IP addresses but you should be able to contact them to do a domain join or ping for example.
Did you say you are connecting via P2S connection only? If so you would need to make sure that all of the VNET routes are published in the VPN configuration file so if you have recently added the AAD DS environment then make sure to download the Azure VPN configuration from the portal again to get all of the available routes included in the configuration.