Video 7 Joining ESXi 6 5 Hosts to Domain Step by Step

Joining esxi hosts to domain related link:
https://kb.vmware.com/s/article/2075361

Make sure to configure IP address and dns carefully on your ESXi hosts
Make sure to add ESXi hosts A host record into your DNS server
User provided easy steps to join your ESXI servers to domain using vSphere client