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It is possible to add groups from other trusted domains to your Tableau Server, and schedule synchronization with these groups so that users are added, etc.
Users from a domain which tableau is a member of are not automatically synched. This is enabled by going to settings and enabling scheduling.. (see article)
Once done, members of groups which have been added to Tableau (irrespective of domain) will be synched on that schedule.
Hope this clears things up