Does custom template build the subject from AD? In addition, I would configure autoenrollment debug logging:
certutil -setreg enroll\AEEventLogLevel 0
then call certutil -pulse and look for events in Application eventlog. When logging is not required anymore, delete the entry:
certutil -delreg enroll\AEEventLogLevel
I think, it would be easier to deploy a subordinate CA in Domain B. However, it may be not very practical either depending if Domain B clients can reach CDP/AIA (CRLs) endpoints. If they can't, then it would be more reasonable for Domain B to have their own CA tree.
Can't the SCCM team just add the Domain B's current CA and Sub CA to the SCCM server certificate store?
no, because they most likely need to issue SCCM client authentication certificates for non-domain machines. As I said, SCCM does not issue certificates, they need to have a CA.
Either way, you both (you and SCCM team) need to have a clear understanding what you need and then depending on your exact needs you will have to evaluate your existing CA configurations (especially, CDP and AIA endpoints), AD forest trusts and only then you can define an acceptable solution. Currently, the description is vague and too many unknown inputs.
I would suspect that there is TLS protocol mismatch on client and server. Make sure if TLS 1.2 is enabled on your Windows Server 2012 R2 box.