@Matthew Campana, Thanks for posting in Q&A. For the issue, I think it can be that the device contacts the previous Intune Connector for Active Directory which make the domain join failed
You can use Graph Explore to Get the deviceManagementDomainJoinConnector. Find the previous one and get its deviceManagementDomainJoinConnectorId
Then delete the previous deviceManagementDomainJoinConnector
After the pervious Intune Connector is removed, try to do Autopilot again to see if it can work.
Hope the above information can help.
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