It sounds like you want to create a Dynamic Group. In order to do this, when you are in the Create New Endpoints Group page, use the available filters to define the criteria you want for existing and future endpoints to be included in that group. This could be things like filtering on the operating system field, or endpoint name field, or based on specific endpoint tags. When creating a Dynamic Group make sure you do not manually select any endpoints in the table as that will override your filter and only include the selected endpoint(s) and turn your group into a Static Group. The Create button at the bottom right of the screen will change to indicate which type of group you are creating. Hope this helps!
Regarding your use case to add all endpoint to group and automating it to add in the group if any new endpoint is newly connected. You won't be needing a domain as mentioned earlier by Ben you can achieve it by using endpoint tags. Using API you can assign tags to all those endpoints and can create an Endpoint Group by selecting that tag thus the group will be dynamic. This way you will be able to add all endpoint to that group at once and not manually.
In another case where you might need to remove some endpoints from group in future, using api again you may remove the tags from that endpoint and that endpoint will be removed from that endpoint group.
For dynamic Endpoint group you may refer to Cortex XDR How-To Video: Endpoint Group.
Hope this helps!
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