Common things that may help:
- Give the system some additional reboot(s) -- that tends to help flushing out any "PendingFileRename" type issues and some / certain drivers tend to work better that way.
- ... and then WAIT after the reboot .
- I'd recommend installing the agent first (then rebooting the device) ... that way you can MANAGE the device in case domain join fails.
- ... perform a final reboot before the domain join (to flush out "anything else") and do that as the very last action (in as far as possible, that is ... possible some apps may need to be installed after the domain join). This is the single most annoying thing to go awry, so having a bit of "buffer" safeguards around it (i.e. - the reboots + wait/sleep) to minimise conflicts tend to help.