Create an Account to Join Computer to a Domain

Here is what you need to do on the OU in Users & Computers (Advanced View).

Permission Apply to
Create Computer Objects This object and all descendant objects
Delete Computer Objects This object and all descendant objects
Read All Properties Descendant Computer Objects
Write All Properties Descendant Computer Objects
Read Permissions Descendant Computer Objects
Modify Permissions Descendant Computer Objects
Change Password Descendant Computer Objects
Reset Password Descendant Computer Objects
Validated write to DNS host name Descendant Computer Objects
Validated write to service principal name Descendant Computer Objects

And this is how it looks like:

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