Hi there,
For server certificate auto-enrollment, you must configure a server certificate template by using the Certificate Templates Microsoft Management Console snap-in on a CA that is running AD CS.
So setting up a second SubCA in Domain B would be the best practice for your requirements. Membership in both the Enterprise Admins and the root domain's Domain Admins group is the minimum required to complete this procedure.
Configure certificate auto-enrollment https://learn.microsoft.com/en-us/windows-server/networking/core-network-guide/cncg/server-certs/configure-server-certificate-autoenrollment
It is possible to have two sub-CAs. In an ideal configuration, one should have two subs ca for high availability based on usage /requirement.
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