Ansible can do that. https://docs.ansible.com/ansible/latest/modules/win_domain_group_membership_module.html#win-domain-group-membership-module
You can add new PCs to domain, and change their group membership, you just need to know computer names in advance.
Which is just a layer on top of Powershell. The Active Directory Powershell module is still required.
It's not required, or that module is included already in Windows 10 by default. Because I haven't had to install it on any machine I managed with Ansible.
"win_domain_group_membership requires the ActiveDirectory PS module to be installed"
They have it in the documentation as well "This must be run on a host that has the ActiveDirectory powershell module installed."