You can reset Computer Account password without disjoining and joining back to Domain (never disjoin Delivery Controllers from the domain, you will lose the Computer Accounts configured in the SQL Site Database !!!) :
- Reset-ComputerMachinePassword -Server "DC01" -Credential Domain01\Admin01
(Don’t need to reboot, just logoff from the local admin and log in with the domain account)
https://docs.microsoft.com/en-us/powershell/module/microsoft.powershell.management/reset-computermachinepassword?view=powershell-5.1