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No, you cannot modify the Tableau Online architecture in the way that would be needed to support this.
It might be possible to set up YOUR DNS entries on your network such that a custom URL for each of your departments resolves to the Tableau Online URL, but Online itself can't be changed. Everyone logs in to the same URL, and the SITE that you have access to is determined as part of the login process, not prior to it.
Thanks Michael for the response!
I think, we can have different user groups to manage users for each dept in place of having different URL.
With that we will have certain best practices added to tableau creators and admins to have it working for longer run.