In this scenario, we only have 2 physical machines available for our lab, and Failover Cluster nodes must be joined to a domain. Initially, each node was made a domain controller - and this is a supported scenario with Windows Failover Cluster; however, it was discovered that Storage Spaces Direct can not be configured on domain controllers.
To circumvent this, we will create a domain controller as a VM using Hyper-V on the physical machine, join the nodes to the domain, then later on move the VM(s) to the cluster for high availability.