Hello
Thank you for your question and reaching out.
I can understand you wish to add domain user to a domain PC.
Yes , you can create Security group and and users or computers to members of this group.
Then you can create GPO so that members settings will be applied to them
Open the GPO and navigate to Computer Configuration -> Policies -> Windows Settings -> Security Settings -> Restricted Groups -> Right click and choose Add Group. If you want to add users to the local administrators group enter Administrators.
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