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Tableau Server will sync any actual user objects in the domain users group. Often this group is set up in Active Directory with references to other groups or users, but no (or very few) actual users in the group. This article explains a bit more:
Thanks Carisa, from the link you sent, it looks like Tableau recommends creating a new AD group and adding all users to it (not groups). regular AD groups (not domain users) can have other groups inside and we're able to import those.