Also getting this error along the previous posted one... Warning, some sync points failed to synchronize
I may have to open a case with Support as this is affecting the newly deployed system to be discovered and managed
I've been able to resolve mine. First thing I did is to disabled the options to push Agent on discovery new system (this is causing the process to proceed on error), then did a search for AD Synch. I realised that there are 2 types of synchronisation. the first one is AD Synchronisation and the second Active Directory/Domain Synchronization, I just search for Synchronisation and Synchronization, then terminated the running tasks, reboot and check status of synchronisation on all 5 domains via Group details/Synchronisation Type/Edit and all was clear. Go to Task and fire up AD Synch task, after successfully synch, enabled the Push Agent option on discovery and all is good. Will keep an watching and see how it behaves in couple of days.
Hope this is useful