To join my Windows Server 2016 Nano server to my test domain I used the djoin.exe (Domain Join) command.
From a domain controller, or server already joined to my domain, I run the following command. This will create a file called NANOSERVERTP5 at the location I run the command.
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djoin.exe /provision /domain TESTDOMAIN /machine NANOSERVERTP5 /reuse /savefile .NANOSERVERTP5

Copy the NANOSERVERTP5 file to C: on the Nano Server. I temporarily enabled File and Sharing through the Firewall on the Nano Server in order to gain access to the Administrative share, so I could copy it to 192.168.100.50c$.
In order to enter into a remote Powershell session, I needed to make sure I had a trusted host entry for my Nano Server in Web Services Management (WS-Management, or WSMan). I launched an administrative Powershell shell. Also, make sure WinRM service is running on the machine you’ll be using (net start winrm).
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Set-Item WSMan:localhostClientTrustedHosts -Value 192.168.100.50 -Concatenate
Accept (Y) the WinRM security prompt.
Start a remote PowerShell session into the Nano Server.
Enter-PSSession -ComputerName 192.168.100.50 -Credential Administrator
Run djoin and specify the location that NANOSERVERTP5 file was copied to; in my case, C:NANOSERVERTP5.
djoin /requestodj /loadfile c:NANOSERVERTP5 /windowspath c:windows /localos