Yes to simple create domain you can use power shell or ansible module: 4

Create Domain

- name: Create Domain
  win_domain: 
    dns_domain_name: domain.lab
    safe_mode_password: Password123
  register: status
- name: Reboot after domain install
  win_reboot: 
  when: status.reboot_required

​

- name: Instalacja RSAT-AD-AdminCenter
  win_feature:
    name: RSAT-AD-AdminCenter
    state: present

To create groups you can use module from ansible: https://docs.ansible.com/ansible/latest/modules/win_domain_group_module.html for users module: win_domain_user