Member server failed to join domain, "Changing the primary domain dns name of this computer to "" failed. the rpc server is unavailable."

Hi all,

When I trying to join domain for my member servers - Windows Server 2012 R2 (different site), we hitting the below error

Changing the primary domain dns name of this computer to "" failed.
The name will remain "abc.local".
The error was: 
The rpc server is unavailable.

It will still let me to reboot, after reboot when I login with domain admin account, it give me below error:

The security database on the server does not have a computer account for this workstation trust relationship

Any idea how to resolve the issue?